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Player2Orca [Examples, Stand-Alone Components, C++, Linux] An example of using Orca and Player in the same component. More... Provides Home Odometry2d Status Tracer Requires none An Orca component which gets remote odometry information from the Player server and publishes it through an Orca Odometry2d interface. This is a bare-bones example! For clarity, no error checking is performed (on both Orca and Player sides). For examples of proper error checking and exception handling, see components in the repository. In particular, Robot2d has a PlayerClient driver which performs a similar function. Prerequisites Requires Player installed. Tested with Player v. 2.0.4. Authors Alex Makarenko Tutorial We will assemble a system shown below. Start IceGrid Registry and IceStorm server as described in the Quick-Start Guide Start the Player server as described in Orca/Stage Tutorial. Now we create the tute directory and copy two pre-installed config files. $ mkdir -p ~/sys/player; cd ~/sys/player $ cp [ORCA-INSTALL]/cfg/player2orca.cfg . $ cp [ORCA-INSTALL]/cfg/orcamon.cfg . Start the Player2Orca component (the standard config file will work) $ player2orca player2orca.cfg Edit the orcamon.cfg config file to make it connect to the provided interface of the example. OrcaMon.Requires.Generic.Proxy=odometry2d@local/player2orca Start the monitor $ orcamon orcamon.cfg You should start seeing live odometry at about 10Hz. To see some change in the output, drag the red robot in the Stage window.

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