This document introduces the demo project of "go_laser_scan", including how to get the original data of laser scanning.

Content

IDE Preperation

  • Software

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(for map display):Robostudio installer 

    • Sample Code: 

      Higher version of Visual Studio will cause errors. Sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework.

  • Hardware

          （Either one of following）

    • Slamware SDP mini 
    • Slamware SDP
    • Slamware Kit 
    • Zeus/Apollo robot base

Download

Win32-Demo


Compiling

  1. Right click on "get_laser_scan" project, set as StartUp project.


  2. Right click on " get_laser_scan ", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

    It's not necessary to copy files to the project directory, user will only need to configure the path of SDK.




  3. Right click on " get_laser_scan ", then "properties"，set "Command Arguments" as follows:  
    Syntax ：get_laser_scan <IP address>> 


  4. Click " F5" to execute.
  5. The output from console will be as follows:

Code

  • Get the original data of laser scanning

    Get the original data of laser scanning
    		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
        std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
        std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;
		rpos::features::system_resource::LaserScan laser_scan = sdp.getLaserScan();
	    std::vector<rpos::core::LaserPoint> laser_points =laser_scan.getLaserPoints();		
		for (std::vector<rpos::core::LaserPoint>::iterator it = laser_points.begin(); it!= laser_points.end(); ++it) 
			std::cout << "Angle: " << it->angle() << "; Distance: " << 
			it->distance() << "; is Valid: " << it->valid() << std::endl;
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