00001 00009 #include "urg_c/urg_sensor.h" 00010 #include "urg_c/urg_utils.h" 00011 #include "urg_c/urg_debug.h" 00012 #include "open_urg_sensor.h" 00013 #include <stdio.h> 00014 00015 00016 int main(int argc, char *argv[]) 00017 { 00018 enum { TIMEOUT_MSEC = 3000 }; 00019 char buffer; 00020 int n; 00021 urg_t urg; 00022 00023 if (open_urg_sensor(&urg, argc, argv) < 0) { 00024 return 1; 00025 } 00026 00027 printf("read\n"); 00028 n = urg_raw_read(&urg, &buffer, 1, TIMEOUT_MSEC); 00029 printf("n = %d\n", n); 00030 00031 return 0; 00032 }