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local lcm = require('lcm')
-- this might be necessary depending on platform and LUA_PATH
package.path = './?/init.lua;' .. package.path
local exlcm = require('exlcm')
function array_to_str(array)
str = '{'
for i = 1, #array - 1 do
str = str .. array[i] .. ', '
end
return str .. array[#array] .. '}'
end
function my_handler(channel, data)
local msg = exlcm.example_t.decode(data)
print(string.format("Received message on channel \"%s\"", channel))
print(string.format(" timestamp = %d", msg.timestamp))
print(string.format(" position = %s", array_to_str(msg.position)))
print(string.format(" orientation = %s", array_to_str(msg.orientation)))
print(string.format(" ranges: %s", array_to_str(msg.ranges)))
print(string.format(" name = '%s'", msg.name))
print(string.format(" enabled = %s", tostring(msg.enabled)))
print("")
end
lc = lcm.lcm.new()
sub = lc:subscribe("EXAMPLE", my_handler)
while true do
lc:handle()
end
-- all subscriptions are unsubed at garbage collection
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