Visual Servoing Platform version 3.5.0
tutorial-pioneer-robot.cpp
1
2#include <iostream>
3#include <visp3/robot/vpRobotPioneer.h>
4
5int main()
6{
7#ifdef VISP_HAVE_PIONEER
8 try {
9 ArArgumentBuilder args;
10 args.add("-rp");
11#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
12 args.add("/dev/ttyUSB0");
13#else
14 args.add("COM3");
15#endif
16
17 ArSimpleConnector conn(&args);
18
19 vpRobotPioneer robot;
20
21 if (!conn.connectRobot(&robot))
22 return -1;
23
24 robot.useSonar(false);
25 vpTime::wait(2000);
26
27 vpColVector v(2);
28 v = 0;
29 v[0] = 0.10; // Translational velocity in m/s
31
32 vpTime::wait(1000);
34 std::cout << "Measured vel: " << v_mes.t() << std::endl;
35 vpTime::wait(1000);
36
37 robot.stopRunning();
38 robot.waitForRunExit();
39 } catch (const vpException &e) {
40 std::cout << "Catch an exception: " << e << std::endl;
41 }
42#endif
43}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
Interface for Pioneer mobile robots based on Aria 3rd party library.
void useSonar(bool usage)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ REFERENCE_FRAME
Definition: vpRobot.h:76
VISP_EXPORT int wait(double t0, double t)