本页介绍了get_laser_scan的用法, 包含当前的雷达数据
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本页内容
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需要
软件平台
需要:
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- Visual Studio 2010
- Slamware Windows SDK: https://download.slamtec.com/api/download/slamware-sdk-windows/2.5.0%20dev%2020170718?lang=neturalSlamware Windows SDK
- RoboStudio:Robostudio installer
- Sample Code:
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硬件平台
(以下任选其一)
- Slamware SDP mini
- Slamware SDP
- Slamware 套装 (基于Slamware导航方案的用户机器人系统)
- Zeus/Apollo等底盘系统
编译运行:
编译运行
- 打开samples工程
在sample code所在文件夹中,打开 samples.sln - 右键get_laser_scan, 打开属性选项,将Slamware SDK 的include目录和lib目录添加到工程
- 右键get_laser_scan, 将此工程设置成StartUp project
- 右键get_laser_scan, 在Debugging页面中command Arguments处输入 192.168.11.1 (Slamware AP 模式默认IP地址)。 注: 此sample为 windows console application, 也可以在console中用命令行执行,用法为:get1
格式说明:get_laser_scan <IP address> - 点击F5运行
- 获取到当前雷达的数据
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代码描述
代码功能说明: 获取当前雷达获取到的数据
Code Block language cpp firstline 1 title 获取雷达数据 linenumbers true 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;