Re: [Playerstage-users] Create a driver in Stage

[nely <nel...@gm...>]

Hello Brian,
I send you a "sonarsabinadevice.cc" and "sonarsabinadevice.h", these
implementations are my new drivers of sonar, I want to view it in
PlayerViewer, not the standar sonar of Stage bring me. I try to make another
file world, and itś ok, run, but the sonar is the standart sonar, not my
sonarsabinadevice. I see the sonar in the PlayerViewer, but not my
sonarsabinadevice. How can I put and see this sonarsabinadevice in the
PlayerViewer? I have more generic drivers, like positionsabinadevice,
lasersabinadevice, relesabinadevice and more.
Thanks. Nely.

I put you here the .world I have created and the .inc file ok? :

############ robotsabina.inc ##############################################
define sonarsabina sonar
(
  scount 8

  # define the pose of each transducer [xpos ypos heading]

  spose[0] [ 0.1  0.1  45 ]
  spose[1] [ 0.1 -0.1 -45 ]
  spose[2] [ 0.2  0.2  90 ]
  spose[3] [ 0.2 -0.2 -90 ]
  spose[4] [ 0.210  0.210  10 ]
  spose[5] [ 0.210 -0.210 -10 ]
  spose[6] [ 0.515  0.115  30 ]
  spose[7] [ 0.923 -0.115 -30 ]

  # define the field of view of each transducer [range_min range_max
  # view_angle]
  # sview [0 5.0 15]

  # define the size of each transducer [xsize ysize] in meters
  ssize [0.01 0.05]
)

define mysabina position
(
   # the size of your robot (in meters)
   size [0.8 0.8]
   # drive can be "diff" "omni" or "carlike"
   #drive "diff"
   # this includes the sonars defined above
   sonarsabina()
)
#################################################################################

########################
sabina.world#############################################
include "robotsabina.inc"

bitmap
(
  file "cave.pnm.gz"
  resolution 0.025
)

gui
(
  size [600.000 600.000]
  origin [7.538 7.464]
  scale 0.026
  grid [0.2 1]
  showgrid 1
)

mysabina ( color "red" name "sabina" port 6665 pose [1 1 0])
################################################################################