[ros-users] Merging Player with ROS

[Aslund]

Thanks for your answer.
While an option is to use the ROS Player driver, then I want to avoid it. I
have already Player installed on my robot and had quite some problems with
it, which is now solved, but it scared me from doing any changes to it, so I
want to maintain the robot as it is.
My idea is to have a second computer to process the algorithms, which
communicates through Player on a local network to my robot.
I used the Publisher example from the tutorial to create a base to work
with, if I add the following lines to my CMakeLists.txt:

include_directories(/usr/local/include/player-3.1)
link_directories(/usr/local/lib)

then I am able to compile the example including the header file of Player (
#include "libplayerc++/playerc++.h" ), but when I add Player functions, then
rosmake returns that there are undefined references, which could indicate
that I need a way of adding the library files into my CMakeLists.txt list.
My problem is that I do not know how to add  .so-library files into
CMakeLists.txt inorder to make the compiler able to use Player functions, I
hope someone can help me resolving this problem.

Regards

Sebastian




On 13 February 2011 01:14, Tully Foote <tfoote at willowgarage.com> wrote:

> Hi Sebastian,
>
> You'll find that Player is already available in a ROS package.  See
> http://include_directories(/usr/local/include/player-3.1)
> link_directories(/usr/local/lib)
> www.ros.org/wiki/player <http://www.ros.org/wiki/player>  There is an
> example of integration for the erratic at
> http://www.ros.org/wiki/erratic_player
>
> Tully
>
> On Sat, Feb 12, 2011 at 9:02 AM, Aslund <sebastian.aslund at gmail.com>wrote:
>
>> Hey everyone
>>
>> I am starting a project aiming at creating a complete coverage path
>> planning algorithm on a mobile robot, which I had previous experience with.
>> Here I developed and implemented a localization algorithm using Player only,
>> but the increased complexity involved in coverage path planning have made me
>> interest in using ROS.
>> While the tutorials gives an excellent overview, then I have not totally
>> figured out how to add my external Player installation into ROS so I can
>> create Nodes that takes advantages of the Player libraries.
>> It is properly a simple task, but I hope someone can take the time to
>> explain how I solve my problem.
>> I am using Player 3.0.2 with the newest version from SVN and the newest
>> version of ROS from the repository on Ubuntu 10.10. The package have I
>> created using roscreate-pkg with the basic dependencies described in the
>> tutorial.
>>
>> Regards
>>
>> Sebastian Aslund
>>
>> Master Student in Robotics
>> University of Southern Denmark
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>>
>>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
>
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>
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