[Playerstage-users] Odometry information

[Robert L. <rj...@ab...>]

Dear all,
This is probably quite an easy issue to solve but being quite new to using
Player has me a bit stumped. I am trying to get hold of the odometry
information from a robot as I will be using this in a robot learning task.
I have tried writing a simple example to print the pose to standard out
which I have included below. I think it is probably that the data is not
being refreshed but I am not sure why. I was trying this using Player
2.0.4 running on a Pioneer robot, but also tried this locally using
everything.cfg that comes with stage.
Thanks in advance
Rob

Here is the code:

#include <iostream>
#include <libplayerc++/playerc++.h>

using namespace PlayerCc;
using namespace std;

int main(int argc, char *argv[]){

	PlayerClient    robot("localhost");
	Position2dProxy pp(&robot,0);

	//have tried this with PULL too
	robot.SetDataMode(PLAYERC_DATAMODE_PUSH);
	//robot.SetReplaceRule(true, PLAYER_MSGTYPE_DATA, -1, 1);

	pp.SetMotorEnable(true) ;

	double turnrate = 0.5, speed = 0.4;
	pp.RequestGeom ();
	pp.ResetOdometry ();
	pp.SetOdometry(0.0, 0.0,0.0);

	int i=0;
	while(i<100){
		robot.Read();
		cout << pp.GetPose() << endl;
		pp.SetSpeed(speed, turnrate);
		i++;
	}

}






------------------------------------

Robert Lloyd - PhD Student

Room B45
Department of Computer Science
Penglais Campus
Aberystwyth
Ceredigion
Wales, UK
SY23 3DB

rj...@ab...