From edgar.landazuri.sanchez at gmail.com Wed Jul 2 15:01:38 2008 From: edgar.landazuri.sanchez at gmail.com (=?ISO-8859-1?Q?Edgar_Anjensen_Landazuri_S=E1nchez?=) Date: Wed, 2 Jul 2008 14:01:38 -0500 Subject: [Aria-users] Problems P2DX and P2 Arm In-Reply-To: <61d4d5b00807021146y63142763mfa162e2ca515e5d7@mail.gmail.com> References: <61d4d5b00807021146y63142763mfa162e2ca515e5d7@mail.gmail.com> Message-ID: <61d4d5b00807021201s58e7166ep9bb8ff7b7a93f696@mail.gmail.com> Hello, I'm trying to work with the P2 Arm mounted on a P2DX using ARIA. The connection with the robot has no problems but I can?t connect with the Arm. I'm using the ArmExample code provide with the ARIA pack 2.5.1. This is the output that y got: Initializing the arm. armExample: Error initializing the P2 Arm! The code of the example: Aria::init(); ArSimpleConnector con(&argc, argv); ArRobot robot; ArP2Arm arm; if(!Aria::parseArgs()) { Aria::logOptions(); Aria::shutdown(); getchar(); return 1; } ArLog::log(ArLog::Normal, "armExample: Connecting to the robot."); if(!con.connectRobot(&robot)) { ArLog::log(ArLog::Terse, "armExample: Could not connect to the robot. Exiting."); Aria::shutdown(); getchar(); return 1; } robot.runAsync(true); // turn off sonar robot.comInt(28, 0); // Set up and initialize the arm arm.setRobot(&robot); if (arm.init() != ArP2Arm::SUCCESS) { ArLog::log(ArLog::Terse, "armExample: Error initializing the P2 Arm!"); getchar(); return 1; } // Print out some of the settings P2ArmJoint *joint; printf("Current joint info:\nJoint Vel Home Center\n"); for (int i=1; i<=ArP2Arm::NumJoints; i++) { joint = arm.getJoint(i); printf(" %2i: %5i %5i %5i\n", i, joint->myVel, joint->myHome, joint->myCenter); } printf("\n"); // Put the arm to work printf("Powering on (takes a couple seconds to stabilize)\n"); arm.powerOn(); // Request one status packet and print out the arm's status printf("Current arm status:\n"); arm.requestStatus(ArP2Arm::StatusSingle); ArUtil::sleep(200); // Give time to get the packet printf("Arm Status: "); if (arm.getStatus() & ArP2Arm::ArmGood) printf("Good=1 "); else printf("Good=0 "); if (arm.getStatus() & ArP2Arm::ArmInited) printf("Inited=1 "); else printf("Inited=0 "); if (arm.getStatus() & ArP2Arm::ArmPower) printf("Power=1 "); else printf("Power=0 "); if (arm.getStatus() & ArP2Arm::ArmHoming) printf("Homing=1 "); else printf("Homing=0 "); printf("\n\n"); // Move the arm joints to specific positions printf("Moving Arm...\n"); int deploy_offset[] = {0, -100, 10, 40, 80, -55, 20}; for (int i=1; i<=ArP2Arm::NumJoints; i++) { joint = arm.getJoint(i); arm.moveToTicks(i, joint->myCenter + deploy_offset[i]); } // Wait for arm to achieve new position, printing joint positions and M for // moving, NM for not moving. arm.requestStatus(ArP2Arm::StatusContinuous); ArUtil::sleep(300); // wait a moment for arm status packet update with joints moving bool moving = true; while (moving) { moving = false; printf("Joints: "); for (int i=1; i<=ArP2Arm::NumJoints; i++) { printf("[%d] %.0f, ", i, arm.getJointPos(i)); if (arm.getMoving(i)) { printf("M; "); moving = true; } else { printf("NM; "); } } printf("\r"); } printf("\n\n"); // Return arm to park, wait, and disconnect. (Though the arm will automatically park // on client disconnect) printf("Parking arm.\n"); arm.park(); // Wait 5 seconds or until arm shuts off for(int i = 5; (i > 0) && (arm.getStatus() & ArP2Arm::ArmPower); i--) { ArUtil::sleep(1000); } // Disconnect from robot, etc., and exit. printf("Shutting down ARIA and exiting.\n"); Aria::shutdown(); getchar(); Maybe I have problems with the serial connection despite the robot's connection is successful, Any ideas? Thanks. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080702/8a27c750/attachment.html From zeb at mobilerobots.com Wed Jul 2 16:23:00 2008 From: zeb at mobilerobots.com (Zeb Dahl) Date: Wed, 02 Jul 2008 16:23:00 -0400 Subject: [Aria-users] Problems P2DX and P2 Arm In-Reply-To: <61d4d5b00807021201s58e7166ep9bb8ff7b7a93f696@mail.gmail.com> References: <61d4d5b00807021146y63142763mfa162e2ca515e5d7@mail.gmail.com> <61d4d5b00807021201s58e7166ep9bb8ff7b7a93f696@mail.gmail.com> Message-ID: <1215030180.22379.16.camel@localhost.localdomain> Hello Edgar, It looks like the software is doing what it should. If you have not modified the code, I would suspect that there is some problem with the arm setup on the microcontroller, or with the arm itself. If you send me the serial number of the robot, I can give you some information on how to check to make sure the arm is set up properly. Best, -Zeb Dahl On Wed, 2008-07-02 at 14:01 -0500, Edgar Anjensen Landazuri S?nchez wrote: > Hello, I'm trying to work with the P2 Arm mounted on a P2DX using > ARIA. The connection with the robot has no problems but I can?t > connect with the Arm. I'm using the ArmExample code provide with the > ARIA pack 2.5.1. This is the output that y got: > > Initializing the arm. > armExample: Error initializing the P2 Arm! > > The code of the example: > > Aria::init(); > ArSimpleConnector con(&argc, argv); > ArRobot robot; > ArP2Arm arm; > > > if(!Aria::parseArgs()) > { > Aria::logOptions(); > Aria::shutdown(); > getchar(); > return 1; > } > > ArLog::log(ArLog::Normal, "armExample: Connecting to the robot."); > if(!con.connectRobot(&robot)) > { > ArLog::log(ArLog::Terse, "armExample: Could not connect to the > robot. Exiting."); > Aria::shutdown(); > getchar(); > return 1; > } > robot.runAsync(true); > > // turn off sonar > robot.comInt(28, 0); > > // Set up and initialize the arm > arm.setRobot(&robot); > if (arm.init() != ArP2Arm::SUCCESS) > { > ArLog::log(ArLog::Terse, "armExample: Error initializing the P2 > Arm!"); > getchar(); > return 1; > } > > // Print out some of the settings > P2ArmJoint *joint; > printf("Current joint info:\nJoint Vel Home Center\n"); > for (int i=1; i<=ArP2Arm::NumJoints; i++) > { > joint = arm.getJoint(i); > printf(" %2i: %5i %5i %5i\n", i, joint->myVel, joint->myHome, > joint->myCenter); > } > printf("\n"); > > // Put the arm to work > printf("Powering on (takes a couple seconds to stabilize)\n"); > arm.powerOn(); > > // Request one status packet and print out the arm's status > printf("Current arm status:\n"); > arm.requestStatus(ArP2Arm::StatusSingle); > ArUtil::sleep(200); // Give time to get the packet > printf("Arm Status: "); > if (arm.getStatus() & ArP2Arm::ArmGood) > printf("Good=1 "); > else > printf("Good=0 "); > if (arm.getStatus() & ArP2Arm::ArmInited) > printf("Inited=1 "); > else > printf("Inited=0 "); > if (arm.getStatus() & ArP2Arm::ArmPower) > printf("Power=1 "); > else > printf("Power=0 "); > if (arm.getStatus() & ArP2Arm::ArmHoming) > printf("Homing=1 "); > else > printf("Homing=0 "); > printf("\n\n"); > > // Move the arm joints to specific positions > printf("Moving Arm...\n"); > int deploy_offset[] = {0, -100, 10, 40, 80, -55, 20}; > for (int i=1; i<=ArP2Arm::NumJoints; i++) > { > joint = arm.getJoint(i); > arm.moveToTicks(i, joint->myCenter + deploy_offset[i]); > } > > // Wait for arm to achieve new position, printing joint positions > and M for > // moving, NM for not moving. > arm.requestStatus(ArP2Arm::StatusContinuous); > ArUtil::sleep(300); // wait a moment for arm status packet update > with joints moving > bool moving = true; > while (moving) > { > moving = false; > printf("Joints: "); > for (int i=1; i<=ArP2Arm::NumJoints; i++) > { > printf("[%d] %.0f, ", i, arm.getJointPos(i)); > if (arm.getMoving(i)) > { > printf("M; "); > moving = true; > } > else > { > printf("NM; "); > } > } > printf("\r"); > } > printf("\n\n"); > > // Return arm to park, wait, and disconnect. (Though the arm will > automatically park > // on client disconnect) > printf("Parking arm.\n"); > arm.park(); > > // Wait 5 seconds or until arm shuts off > for(int i = 5; (i > 0) && (arm.getStatus() & ArP2Arm::ArmPower); > i--) > { > ArUtil::sleep(1000); > } > > // Disconnect from robot, etc., and exit. > printf("Shutting down ARIA and exiting.\n"); > Aria::shutdown(); > getchar(); > > Maybe I have problems with the serial connection despite the robot's > connection is successful, Any ideas? > Thanks. > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From Thomas.Emter at iitb.fraunhofer.de Thu Jul 3 07:51:25 2008 From: Thomas.Emter at iitb.fraunhofer.de (Thomas Emter) Date: Thu, 3 Jul 2008 13:51:25 +0200 Subject: [Aria-users] ARNL path following Message-ID: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> Hello, we have a problem with our Powerbot, when following a planned path with ARNL. When going around corners or in narrow places, but also sometimes in wide areas it is juddering and wagging for some seconds. Means it accelerates and decelerates consecutively and rotates back and forth by some degrees. I tried to remedy this behavior by changing some of the path planning parameters of arnl.p but with no success. Only reducing MaxVel and MaxRotVel to very small values helped, but then the PowerBot is veeery slow. I'm not quite sure if this behaviour occurred since the update of ARNL where the path following was changed. But before reverting back to an older version I would like to ask if someone else had the same problem or if anybody knows which parameters could help or where the problem could be found elsewhere? Thanks in advance Kind Regards, Thomas From reed at mobilerobots.com Thu Jul 3 09:07:04 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 03 Jul 2008 09:07:04 -0400 Subject: [Aria-users] ARNL path following In-Reply-To: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> Message-ID: <486CCEF8.9000202@mobilerobots.com> Hi Thomas, Does it look like it's wobbling because it's seeing new obstacles, and therefore planning an new path (watch the blue path line in MobileEyes)? Or is it just correcting for some heading error as it drives? If so, I find reducing the rotational acceleration a bit helps it be more smooth when doing those corrections. There are other more obscure path-following parameters that I'll refresh my memory on and get back. Also run serverDemo or demo, and drive the robot straight. See if it also has similar behavior, or if it doesn't drive straight. This could indicate a motor or encoders problem, or an error in the gyro's measurements, if you have one. Reed Thomas Emter wrote: > Hello, > > we have a problem with our Powerbot, when following a planned path with > ARNL. When going around corners or in narrow places, but also sometimes > in wide areas it is juddering and wagging for some seconds. Means it > accelerates and decelerates consecutively and rotates back and forth by > some degrees. I tried to remedy this behavior by changing some of the > path planning parameters of arnl.p but with no success. Only reducing > MaxVel and MaxRotVel to very small values helped, but then the PowerBot > is veeery slow. I'm not quite sure if this behaviour occurred since the > update of ARNL where the path following was changed. But before > reverting back to an older version I would like to ask if someone else > had the same problem or if anybody knows which parameters could help or > where the problem could be found elsewhere? > From Thomas.Emter at iitb.fraunhofer.de Thu Jul 3 10:50:45 2008 From: Thomas.Emter at iitb.fraunhofer.de (Thomas Emter) Date: Thu, 3 Jul 2008 16:50:45 +0200 Subject: [Aria-users] ARNL path following In-Reply-To: <486CCEF8.9000202@mobilerobots.com> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> <486CCEF8.9000202@mobilerobots.com> Message-ID: <207CA5955003C644AB4AACB037C898E755C9CB@ms2exchange.ms2.iitb.fraunhofer.de> Hi Reed, Thanks a lot for the quick answer. > Hi Thomas, > > Does it look like it's wobbling because it's seeing new obstacles, and > therefore > planning an new path (watch the blue path line in MobileEyes)? I watched this closely, because I had this in mind also, but couldn't see any indication for that. Only the spline in the vicinity of the robot is adjusted a little as it drives, which I thought is normal. I will re-check that again nonetheless. > > Or is it just correcting for some heading error as it drives? If so, I > find > reducing the rotational acceleration a bit helps it be more smooth when > doing > those corrections. This seems to be the case and it also reduces it's transVel for correcting, thus the juddering in addition to the wobbling. I tried to reduce the HeadingRotAccel and HeadingRotDecel in arnl.p, which didn't help. Reducing the global acceleration helps, but makes the robot quite slow. > >There are other more obscure path-following > parameters that > I'll refresh my memory on and get back. > > Also run serverDemo or demo, and drive the robot straight. See if it > also has > similar behavior, or if it doesn't drive straight. This could indicate > a motor > or encoders problem, or an error in the gyro's measurements, if you > have one. I will check that. Thank you very much for your time and help. Thomas > > Reed > > > Thomas Emter wrote: > > Hello, > > > > we have a problem with our Powerbot, when following a planned path > with > > ARNL. When going around corners or in narrow places, but also > sometimes > > in wide areas it is juddering and wagging for some seconds. Means it > > accelerates and decelerates consecutively and rotates back and forth > by > > some degrees. I tried to remedy this behavior by changing some of the > > path planning parameters of arnl.p but with no success. Only reducing > > MaxVel and MaxRotVel to very small values helped, but then the > PowerBot > > is veeery slow. I'm not quite sure if this behaviour occurred since > the > > update of ARNL where the path following was changed. But before > > reverting back to an older version I would like to ask if someone > else > > had the same problem or if anybody knows which parameters could help > or > > where the problem could be found elsewhere? > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From Thomas.Emter at iitb.fraunhofer.de Thu Jul 3 13:30:35 2008 From: Thomas.Emter at iitb.fraunhofer.de (Thomas Emter) Date: Thu, 3 Jul 2008 19:30:35 +0200 Subject: [Aria-users] ARNL path following In-Reply-To: <486CCEF8.9000202@mobilerobots.com> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> <486CCEF8.9000202@mobilerobots.com> Message-ID: <207CA5955003C644AB4AACB037C898E755C9DD@ms2exchange.ms2.iitb.fraunhofer.de> Hello Reed, with demo the robot drives like a charm. Kind Regards, Thomas > -----Urspr?ngliche Nachricht----- > Von: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] Im Auftrag von Reed Hedges > Gesendet: Donnerstag, 3. Juli 2008 15:07 > Cc: aria-users at lists.mobilerobots.com > Betreff: Re: [Aria-users] ARNL path following > > > > Hi Thomas, > > Does it look like it's wobbling because it's seeing new obstacles, and > therefore > planning an new path (watch the blue path line in MobileEyes)? > > Or is it just correcting for some heading error as it drives? If so, I > find > reducing the rotational acceleration a bit helps it be more smooth when > doing > those corrections. There are other more obscure path-following > parameters that > I'll refresh my memory on and get back. > > Also run serverDemo or demo, and drive the robot straight. See if it > also has > similar behavior, or if it doesn't drive straight. This could indicate > a motor > or encoders problem, or an error in the gyro's measurements, if you > have one. > > Reed > > > Thomas Emter wrote: > > Hello, > > > > we have a problem with our Powerbot, when following a planned path > with > > ARNL. When going around corners or in narrow places, but also > sometimes > > in wide areas it is juddering and wagging for some seconds. Means it > > accelerates and decelerates consecutively and rotates back and forth > by > > some degrees. I tried to remedy this behavior by changing some of the > > path planning parameters of arnl.p but with no success. Only reducing > > MaxVel and MaxRotVel to very small values helped, but then the > PowerBot > > is veeery slow. I'm not quite sure if this behaviour occurred since > the > > update of ARNL where the path following was changed. But before > > reverting back to an older version I would like to ask if someone > else > > had the same problem or if anybody knows which parameters could help > or > > where the problem could be found elsewhere? > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From tkoray at aselsan.com.tr Fri Jul 4 02:24:01 2008 From: tkoray at aselsan.com.tr (Tankut KORAY) Date: Fri, 4 Jul 2008 09:24:01 +0300 Subject: [Aria-users] Java 6 Wrapper Message-ID: Hi, How can I get updated wrapper for Java 1.6? Sometimes we are losing our connection to robot, so is this update solves that problem? Regards, Tankut Koray PS: Sorry this is duplicate email for pioneer-users list members ###################################################################### Dikkat: Bu elektronik posta mesaji kisisel ve ozeldir. Eger size gonderilmediyse lutfen gondericiyi bilgilendirip mesaji siliniz. Firmamiza gelen ve giden mesajlar virus taramasindan gecirilmekte, guvenlik nedeni ile kontrol edilerek saklanmaktadir. Mesajdaki gorusler ve bakis acisi gondericiye ait olup Aselsan A.S. resmi gorusu olmak zorunda degildir. ###################################################################### Attention: This e-mail message is privileged and confidential. If you are not the intended recipient please delete the message and notify the sender. E-mails to and from the company are monitored for operational reasons and in accordance with lawful business practices. Any views or opinions presented are solely those of the author and do not necessarily represent the views of the company. ###################################################################### From cywong at i2r.a-star.edu.sg Fri Jul 4 03:01:03 2008 From: cywong at i2r.a-star.edu.sg (Wong Chern Yuen Anthony) Date: Fri, 4 Jul 2008 15:01:03 +0800 Subject: [Aria-users] localization using GPS on ARNL Message-ID: <162B8AFBFBBB2148A9A1B8F9C575342804CFC7C7@mailbe01.teak.local.net> Dear All, I am working on a Pioneer P3DX with URG laser sensor and using GPS as a form of localization. There is error associated with the GPS and we want to fuse the information from the GPS and encoders to provide a way to do SLAM. Is there a way in ARNL to include the GPS data and compensate for the encoder error? Where should I start? Thanks, Anthony ------------ Institute For Infocomm Research - Disclaimer -------------This email is confidential and may be privileged. If you are not the intended recipient, please delete it and notify us immediately. Please do not copy or use it for any purpose, or disclose its contents to any other person. Thank you.-------------------------------------------------------- -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080704/03bf6f3f/attachment.html From nageshwar at students.iiit.net Mon Jul 7 07:54:53 2008 From: nageshwar at students.iiit.net (Nageshwar) Date: Mon, 7 Jul 2008 17:24:53 +0530 Subject: [Aria-users] Problem with libraries Message-ID: <1cd24b3b0807070454r63e349ceoc6c31ce34944f680@mail.gmail.com> Hi, I have a problem in using ArRobot object. I have initialized ArRobot class in my main function and I passed the reference of it to a linked library function. In that function I asked the robot to move by calling the move(DIST) function. But the robot in mobilesim is not moving. Can anybody help me in solving this problem. -- Thanks in advance, Nageshwar M. From reed at mobilerobots.com Mon Jul 7 10:38:02 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 07 Jul 2008 10:38:02 -0400 Subject: [Aria-users] ARNL path following In-Reply-To: <207CA5955003C644AB4AACB037C898E755C9CB@ms2exchange.ms2.iitb.fraunhofer.de> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> <486CCEF8.9000202@mobilerobots.com> <207CA5955003C644AB4AACB037C898E755C9CB@ms2exchange.ms2.iitb.fraunhofer.de> Message-ID: <48722A4A.5010001@mobilerobots.com> When you upgraded ARNL, it might not have replaced your parameters file with the new one. Some of the old parameter values are not correct for the new version of ARNL. Attached is the default arnl.p for ARNL 1.5.1. Compare your arnl.p (or whatever config file you're using) with default-arnl.p or the attached. Reed Thomas Emter wrote: > Hi Reed, > > Thanks a lot for the quick answer. > >> Hi Thomas, >> >> Does it look like it's wobbling because it's seeing new obstacles, and >> therefore >> planning an new path (watch the blue path line in MobileEyes)? > > I watched this closely, because I had this in mind also, but couldn't > see any indication for that. Only the spline in the vicinity of the > robot is adjusted a little as it drives, which I thought is normal. I > will re-check that again nonetheless. > >> Or is it just correcting for some heading error as it drives? If so, I >> find >> reducing the rotational acceleration a bit helps it be more smooth > when >> doing >> those corrections. > > This seems to be the case and it also reduces it's transVel for > correcting, thus the juddering in addition to the wobbling. I tried to > reduce the HeadingRotAccel and HeadingRotDecel in arnl.p, which didn't > help. Reducing the global acceleration helps, but makes the robot quite > slow. > >> There are other more obscure path-following >> parameters that >> I'll refresh my memory on and get back. >> >> Also run serverDemo or demo, and drive the robot straight. See if it >> also has >> similar behavior, or if it doesn't drive straight. This could indicate >> a motor >> or encoders problem, or an error in the gyro's measurements, if you >> have one. > > I will check that. > > Thank you very much for your time and help. > Thomas > >> Reed >> >> >> Thomas Emter wrote: >>> Hello, >>> >>> we have a problem with our Powerbot, when following a planned path >> with >>> ARNL. When going around corners or in narrow places, but also >> sometimes >>> in wide areas it is juddering and wagging for some seconds. Means it >>> accelerates and decelerates consecutively and rotates back and forth >> by >>> some degrees. I tried to remedy this behavior by changing some of > the >>> path planning parameters of arnl.p but with no success. Only > reducing >>> MaxVel and MaxRotVel to very small values helped, but then the >> PowerBot >>> is veeery slow. I'm not quite sure if this behaviour occurred since >> the >>> update of ARNL where the path following was changed. But before >>> reverting back to an older version I would like to ask if someone >> else >>> had the same problem or if anybody knows which parameters could help >> or >>> where the problem could be found elsewhere? >>> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -------------- next part -------------- A non-text attachment was scrubbed... Name: arnl.p Type: text/x-pascal Size: 29447 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080707/f78206d7/attachment-0001.bin From reed at mobilerobots.com Mon Jul 7 11:32:16 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 07 Jul 2008 11:32:16 -0400 Subject: [Aria-users] Java 6 Wrapper In-Reply-To: References: Message-ID: <48723700.9030003@mobilerobots.com> Tankut KORAY wrote: > Hi, > > How can I get updated wrapper for Java 1.6? Sometimes we are losing our connection to robot, so is this update solves that problem? > Currently, you must re-build the wrapper for Java 1.6 yourself. See the instructions in the javaExamples/README.txt file. You will need to install Swig and set up some environment variables. Reed From reed at mobilerobots.com Mon Jul 7 11:38:02 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 07 Jul 2008 11:38:02 -0400 Subject: [Aria-users] localization using GPS on ARNL In-Reply-To: <162B8AFBFBBB2148A9A1B8F9C575342804CFC7C7@mailbe01.teak.local.net> References: <162B8AFBFBBB2148A9A1B8F9C575342804CFC7C7@mailbe01.teak.local.net> Message-ID: <4872385A.2060304@mobilerobots.com> Hello, ARNL only uses a SICK laser for localization in a map. However, navigation (path planning and driving) can be used seperately, and you could write code that transforms the GPS earth coordinates into the map's (flat) coordinate space, and use ARNL for path planning in that map. ARNL's localization task sets ArRobot's position using its moveTo() method. You can use parts of the ARIA infrastructure to run your localization process-- ArASyncTask, for example, to run a new thread. Does this help? Reed Wong Chern Yuen Anthony wrote: > Dear All, > I am working on a Pioneer P3DX with URG laser sensor and using GPS as a > form of localization. There is error associated with the GPS and we want > to fuse the information from the GPS and encoders to provide a way to do > SLAM. Is there a way in ARNL to include the GPS data and compensate for > the encoder error? > > Where should I start? > > Thanks, > Anthony From j_votion at yahoo.com Mon Jul 7 17:49:11 2008 From: j_votion at yahoo.com (Johnathan Votion) Date: Mon, 7 Jul 2008 14:49:11 -0700 (PDT) Subject: [Aria-users] guiserversonar convert to VC++ 9.0 Message-ID: <863622.42384.qm@web58202.mail.re3.yahoo.com> I am able to install and run the example programs (e.g. guiserversonar) that were built and compiled in VC++ version 7. They successfully open and connect with MobileSim and Mobile Eyes. Although I have VC++ version 9, and when trying to open the guiserversonar project with this version will have to convert. After I convert, compiling and building is successful, although when trying to run the program an error occurs (send error report) and the program fails. Does anyone have an antidote to this problem. Please reply if you do. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080707/e4af58c9/attachment.html From wjxnet_126 at 126.com Mon Jul 7 23:41:32 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Tue, 8 Jul 2008 11:41:32 +0800 (CST) Subject: [Aria-users] Which position of P3-AT robot.getX() returns? Message-ID: <12920878.611671215488492122.JavaMail.coremail@bj126app22.126.com> hello,everyone It's known robot.getX() returns the current position of a robot. While a true robot is not a mass point, for example the size of a P3-AT robot is 50cm * 49cm * 26cm. Then which particular position of a Pioneer 3-AT robot robot.getX() assumes, it is the center of the robot, that is 25cm*24.5cm, or the center of the rear wheels? Thanks in advance! Jianxin Wu Key laboratory of Systems and Control,Institue of Systems Science Chinese Academy of Sciences -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080708/68578001/attachment.html From wjxnet_126 at 126.com Mon Jul 7 23:44:05 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Tue, 8 Jul 2008 11:44:05 +0800 (CST) Subject: [Aria-users] [Pioneer-users] What type of robot is Pioneer 3-AT? In-Reply-To: <28582523.951651215008128974.JavaMail.coremail@bj126app50.126.com> References: <28582523.951651215008128974.JavaMail.coremail@bj126app50.126.com> Message-ID: <3316507.613261215488645472.JavaMail.coremail@bj126app22.126.com> Could anybody gives some suggestions, or hints, Thank you very much! ?2008-07-02 22:15:28?wjxnet_126 ??? hello,every one! Recently i saw the article by G.Campion etc, Control of nonholonomic wheeled mobile robots by state feedback linearization,International Journal of Robotics Volume 14 , Issue 6 (December 1995), Pages:543 - 559 this article classified wheeled robots into 5 types, and described the motion dynamics of each type. I am wondering , which type the Pioneer 3-AT robot is, it seems that P3-AT does not belong to these types. Then how to describle P3-AT 's motion dynamics, has everyone saw it in some publication. Thanks in advance! Jianxin Wu ??????3D?????2??6?6????? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080708/cba45d65/attachment.html From dowlr at essex.ac.uk Tue Jul 8 04:24:48 2008 From: dowlr at essex.ac.uk (Dowling, Robin) Date: Tue, 8 Jul 2008 09:24:48 +0100 Subject: [Aria-users] [Pioneer-users] Which position of P3-AT robot.getX() returns? In-Reply-To: <12920878.611671215488492122.JavaMail.coremail@bj126app22.126.com> References: <12920878.611671215488492122.JavaMail.coremail@bj126app22.126.com> Message-ID: Jianxin Wu If you look in the parameters file for your robot, the offsets for each sonar are listed, from these offsets you can determine the centre being used. I don?t currently have access to our P3AT but I expect you will find the centre being used is the notional centre of rotation, the mid point between the four driven wheels. Regards Robin Dowling ________________________________ From: pioneer-users-bounces at lists.mobilerobots.com [mailto:pioneer-users-bounces at lists.mobilerobots.com] On Behalf Of wjxnet_126 Sent: 08 July 2008 04:42 To: aria-users; pioneer-users Subject: [Pioneer-users] Which position of P3-AT robot.getX() returns? hello,everyone It's known robot.getX() returns the current position of a robot. While a true robot is not a mass point, for example the size of a P3-AT robot is 50cm * 49cm * 26cm. Then which particular position of a Pioneer 3-AT robot robot.getX() assumes, it is the center of the robot, that is 25cm*24.5cm, or the center of the rear wheels? Thanks in advance! Jianxin Wu Key laboratory of Systems and Control,Institue of Systems Science Chinese Academy of Sciences ________________________________ ??????3D?????2??6?6????? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080708/1ce91f37/attachment-0001.html From kennedy at MobileRobots.com Tue Jul 8 09:21:14 2008 From: kennedy at MobileRobots.com (William Kennedy) Date: Tue, 08 Jul 2008 09:21:14 -0400 Subject: [Aria-users] ARCOS 2.4 Message-ID: <6.2.5.6.2.20080708091848.03651a78@MobileRobots.com> Hi, everyone: New release of ARCOS version 2.4 is now available at the http://robots.MobileRobots.com website. Update details are in the accompanying README. Note, too, this release ameliorates the very strange behavior of PowerBot's joystick interface discovered in 2.2 and 2.3. Regards, William Kennedy From Thomas.Emter at iitb.fraunhofer.de Tue Jul 8 11:09:55 2008 From: Thomas.Emter at iitb.fraunhofer.de (Thomas Emter) Date: Tue, 8 Jul 2008 17:09:55 +0200 Subject: [Aria-users] ARNL path following In-Reply-To: <48722A4A.5010001@mobilerobots.com> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> <486CCEF8.9000202@mobilerobots.com><207CA5955003C644AB4AACB037C898E755C9CB@ms2exchange.ms2.iitb.fraunhofer.de> <48722A4A.5010001@mobilerobots.com> Message-ID: <207CA5955003C644AB4AACB037C898E774DE05@ms2exchange.ms2.iitb.fraunhofer.de> Hello Reed, I tried to drive the robot with the default-arnl.p and with the one you sent me and unfortunately it shows the same behaviour. Regards Thomas > -----Urspr?ngliche Nachricht----- > Von: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] Im Auftrag von Reed Hedges > Gesendet: Montag, 7. Juli 2008 16:38 > An: aria-users at lists.mobilerobots.com > Betreff: Re: [Aria-users] ARNL path following > > > > When you upgraded ARNL, it might not have replaced your parameters file > with the > new one. Some of the old parameter values are not correct for the new > version > of ARNL. Attached is the default arnl.p for ARNL 1.5.1. Compare your > arnl.p (or > whatever config file you're using) with default-arnl.p or the attached. > > Reed > > > Thomas Emter wrote: > > Hi Reed, > > > > Thanks a lot for the quick answer. > > > >> Hi Thomas, > >> > >> Does it look like it's wobbling because it's seeing new obstacles, and > >> therefore > >> planning an new path (watch the blue path line in MobileEyes)? > > > > I watched this closely, because I had this in mind also, but couldn't > > see any indication for that. Only the spline in the vicinity of the > > robot is adjusted a little as it drives, which I thought is normal. I > > will re-check that again nonetheless. > > > >> Or is it just correcting for some heading error as it drives? If so, I > >> find > >> reducing the rotational acceleration a bit helps it be more smooth > > when > >> doing > >> those corrections. > > > > This seems to be the case and it also reduces it's transVel for > > correcting, thus the juddering in addition to the wobbling. I tried to > > reduce the HeadingRotAccel and HeadingRotDecel in arnl.p, which didn't > > help. Reducing the global acceleration helps, but makes the robot quite > > slow. > > > >> There are other more obscure path-following > >> parameters that > >> I'll refresh my memory on and get back. > >> > >> Also run serverDemo or demo, and drive the robot straight. See if it > >> also has > >> similar behavior, or if it doesn't drive straight. This could indicate > >> a motor > >> or encoders problem, or an error in the gyro's measurements, if you > >> have one. > > > > I will check that. > > > > Thank you very much for your time and help. > > Thomas > > > >> Reed > >> > >> > >> Thomas Emter wrote: > >>> Hello, > >>> > >>> we have a problem with our Powerbot, when following a planned path > >> with > >>> ARNL. When going around corners or in narrow places, but also > >> sometimes > >>> in wide areas it is juddering and wagging for some seconds. Means it > >>> accelerates and decelerates consecutively and rotates back and forth > >> by > >>> some degrees. I tried to remedy this behavior by changing some of > > the > >>> path planning parameters of arnl.p but with no success. Only > > reducing > >>> MaxVel and MaxRotVel to very small values helped, but then the > >> PowerBot > >>> is veeery slow. I'm not quite sure if this behaviour occurred since > >> the > >>> update of ARNL where the path following was changed. But before > >>> reverting back to an older version I would like to ask if someone > >> else > >>> had the same problem or if anybody knows which parameters could help > >> or > >>> where the problem could be found elsewhere? > >>> > >> _______________________________________________ > >> Aria-users mailing list > >> Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > >> > >> To unsubscribe visit the above webpage or send an e-mail to: > >> > >> aria-users-leave at lists.mobilerobots.com > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > From reed at mobilerobots.com Tue Jul 8 18:42:47 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Jul 2008 18:42:47 -0400 Subject: [Aria-users] guiserversonar convert to VC++ 9.0 In-Reply-To: <863622.42384.qm@web58202.mail.re3.yahoo.com> References: <863622.42384.qm@web58202.mail.re3.yahoo.com> Message-ID: <4873ED67.8010602@mobilerobots.com> Hi Jonathan, The ARNL libraries are provided for VC 7, and there are alternate versions for VC 8 in the vc-8 directory. There are no versions built with VC 9 at this time. -> Does anyone know if VC 8 (2005) is compatible with VC 9 (2008)? Reed Johnathan Votion wrote: > I am able to install and run the example programs (e.g. guiserversonar) that were built and compiled in VC++ version 7. They successfully open and connect with MobileSim and Mobile Eyes. > Although I have VC++ version 9, and when trying to open the guiserversonar project with this version will have to convert. After I convert, compiling and building is successful, although when trying to run the program an error occurs (send error report) and the program fails. Does anyone have an antidote to this problem. Please reply if you do. > From reed at mobilerobots.com Tue Jul 8 18:44:22 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Jul 2008 18:44:22 -0400 Subject: [Aria-users] [Pioneer-users] Which position of P3-AT robot.getX() returns? In-Reply-To: <12920878.611671215488492122.JavaMail.coremail@bj126app22.126.com> References: <12920878.611671215488492122.JavaMail.coremail@bj126app22.126.com> Message-ID: <4873EDC6.7020906@mobilerobots.com> The robot's "center" point is its center of rotation, between the wheels. Therefore if you just rotate, and don't translate, the robot's (X, Y) position won't change (except very slightly, due to small "errors" in measurement and motor speeds). Reed wjxnet_126 wrote: > hello,everyone > > It's known robot.getX() returns the current position of a robot. While a true robot is not a mass point, for example the size of a P3-AT robot is 50cm * 49cm * 26cm. Then which particular position of a Pioneer 3-AT robot robot.getX() assumes, it is the center of the robot, that is 25cm*24.5cm, or the center of the rear wheels? Thanks in advance! > > > Jianxin Wu > Key laboratory of Systems and Control,Institue of Systems Science > Chinese Academy of Sciences > > > > > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Tue Jul 8 18:46:03 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Jul 2008 18:46:03 -0400 Subject: [Aria-users] [Pioneer-users] What type of robot is Pioneer 3-AT? In-Reply-To: <3316507.613261215488645472.JavaMail.coremail@bj126app22.126.com> References: <28582523.951651215008128974.JavaMail.coremail@bj126app50.126.com> <3316507.613261215488645472.JavaMail.coremail@bj126app22.126.com> Message-ID: <4873EE2B.1010808@mobilerobots.com> The P3-AT operates as a differential drive robot, though it uses skid steering, so it does not rotate or drive as smoothly and efficiently as a two-wheeled differential drive robot like the P3-DX. wjxnet_126 wrote: > Could anybody gives some suggestions, or hints, Thank you very much! > > > > > > ??2008-07-02 22:15:28??wjxnet_126 ?????? > > hello,every one! > > Recently i saw the article by G.Campion etc, > Control of nonholonomic wheeled mobile robots by state feedback linearization,International Journal of Robotics > Volume 14 , Issue 6 (December 1995), Pages:543 - 559 > > this article classified wheeled robots into 5 types, and described the motion dynamics of each type. I am wondering , which type the Pioneer 3-AT robot is, it seems that P3-AT does not belong to these types. Then how to describle P3-AT 's motion dynamics, has everyone saw it in some publication. Thanks in advance! > > > Jianxin Wu > > > > > > > > > > > > > > > > > > ????????????3D??????????2????6??6?????????? > > > ------------------------------------------------------------------------ > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Tue Jul 8 18:49:10 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Jul 2008 18:49:10 -0400 Subject: [Aria-users] problem using the function getx In-Reply-To: References: Message-ID: <4873EEE6.1060408@mobilerobots.com> Did you recompile all of ARIA as well as your program? Is it always the same value? Does the program run for at least a few seconds, printing out values, or do you just print out one? ahmad shuja wrote: > Hi reed > i have compile the code again and it as build successfull.Still when i run my code the getx function give me the result as -6.2774385e+66. > Ihave pasted my code and i will be glad if you tell me the error in it. > > Header File > > #pragma once > #include "Aria.h" > class PioneerFunc > { > public: > PioneerFunc(void); > ~PioneerFunc(void); > // must be used first initilize the robot parameter > bool Robot_Init(int Com_port,bool TCP_Con); > // to reset the robot parameter > bool Reset_Robo(void); > // Move the robot in forward/backward linear direction > bool Lin_Mov(double X_Pos_thsnd_mm,double Y_Pos_thsnd_mm); > // Stop the robot > bool Stp_Robt(void); > // Pan Tilt camera > bool Pan_Tilt_Cam(double Pan_dgr,double Tilt_dgr); > // to rotate the robot to the desire angle > bool Change_Orient(double degree); > private: > //****************** variable decleration**************************** > // The robot is initilizes properly > bool m_Init; > // to know if the connection is TCP > bool m_TCP_con; > // robot in linear motion > bool m_Lin_mot; > // if we are desireous of connecting through TCP > ArTcpConnection tcpCon; > const char* host; > // To connect to the server > ArSerialConnection ConeC; > // Declaring the variable for the robot > ArRobot *My_robot; > // sonar, must be added to the robot > ArSonarDevice Sonar; > //using the desired type of methods to control the robot > ArActionGoto gotoPoseAction; > ArActionStop Stop_Rob; > ArActionDesired Des_Pos; > //****************** ends here ************************************** > public: > // Retrieve the X_Pos of the robot > double Position_X(void); > > > > > > AND the .CPP file > > > // must be used first initilize the robot parameter > bool PioneerFunc::Robot_Init(int Com_port,bool TCP_Con) > { > if (m_Init==false) > { > // init area with a dedicated signal handling thread > Aria::init(Aria::SIGHANDLE_SINGLE ); > My_robot=new ArRobot(); > > > > //+++++++++++++++++++++++++++++Selection for what type of connection to be done and open it++++++++++++++++++++ > // connect to the robot via TCP or COM port > if (TCP_Con==false) > > { > // set the port for the connection > if (Com_port ==1) ConeC.setPort(ArUtil::COM1); > if (Com_port ==2) ConeC.setPort(ArUtil::COM2); > if (Com_port ==3) ConeC.setPort(ArUtil::COM3); > if (Com_port ==4) ConeC.setPort(ArUtil::COM4); > ConeC.setBaud(9600); > > // connect to the robot using com port > if (!ConeC.openSimple()) > { > Aria::shutdown(); > return false; > } > > // set the device connection on the robot > My_robot->setDeviceConnection (&ConeC); > > } > > else > { > // connect via using the tcp connection > int status = tcpCon.open(host); > if(status != 0) > { > Aria::shutdown(); > return false; > } > //connect to the robot > My_robot->setDeviceConnection(&tcpCon); > m_TCP_con=true; > } > //++++++++++++++++if connection is established start reading the block from the robot++++++++++++++++++++++++++ > > if(My_robot->blockingConnect()!=true) //The blockingConnect method doesn't return > { //from the call until a connection succeeds or fails: > Aria::shutdown(); > return false; > } > //+++++++++++++++++++++++++++add different classes to read data from the input packet+++++++++++++++++++++++++ > My_robot->lock (); > // add the sonar to the robot > My_robot->addRangeDevice(&Sonar); > > My_robot->setAbsoluteMaxRotAccel(100); > My_robot->setAbsoluteMaxRotVel(50); > > gotoPoseAction.setCloseDist (80); > gotoPoseAction.setSpeed (40); > My_robot->addAction(&gotoPoseAction, 50); > > //to stop the robot action > My_robot->addAction(&Stop_Rob, 40); > > //++++++++++++++++++++++++++++++++++++++add the processing cycle++++++++++++++++++++++++++++++++++++++++++++++ > // True parameter means that if the connection is lost, then the run loop ends. > My_robot->runAsync(true); //to run the cycle in a new background thread > > // turn on the motors, turn off amigobot sounds > My_robot->enableMotors(); > My_robot->comInt(ArCommands::SOUNDTOG, 0); > > ArSonyPTZ Cam_Cntrl(My_robot); > Cam_Cntrl.init (); > > My_robot->unlock (); > > } > > m_Init=true; > return true; > } > > // to reset the robot parameter > bool PioneerFunc::Reset_Robo(void) > { > if (m_Init==true) > { > if (m_Lin_mot== true) Stp_Robt(); > if (m_TCP_con==true) > { > My_robot->stopRunning(); > m_TCP_con=false; > } > else My_robot->disconnect(); > Aria::shutdown(); > m_Init=false; > return true; > } > > return false; > } > > // Move the robot at desire X Y position > bool PioneerFunc::Lin_Mov(double X_Pos_thsnd_mm,double Y_Pos_thsnd_mm) > { > if (m_Init==true) > { > My_robot->clearDirectMotion (); > gotoPoseAction.setGoal(ArPose(X_Pos_thsnd_mm, Y_Pos_thsnd_mm)); > m_Lin_mot=true; > return true; > } > return false; > } > // Stop the robot > bool PioneerFunc:: Stp_Robt(void) > { > if (m_Init==true) > { > My_robot->clearDirectMotion (); > gotoPoseAction.cancelGoal (); > Stop_Rob; > m_Lin_mot=false; > return true; > } > return false; > > } > bool PioneerFunc::Pan_Tilt_Cam(double Pan_dgr,double Tilt_dgr) > { > //if (m_Cam==true) > if (m_Init==true) > { > ArSonyPTZ Cam_Cntrl(My_robot); > Cam_Cntrl.panTilt(Pan_dgr,Tilt_dgr); > return true; > } > return false; > } > bool PioneerFunc::Change_Orient(double degree) > { > if (m_Init==true) > { > if (degree<360 && degree>=0) > { > if (m_Lin_mot== false || gotoPoseAction.haveAchievedGoal () ) > { > My_robot->setHeading(degree); > return true; > } > return false; > } > } > return false; > } > > THE MAIN PROBLEM AREA > > // Retrieve the X_Pos of the robot > double PioneerFunc::Position_X(void) > { > My_robot->lock (); > double temp; > temp=My_robot->getX(); > My_robot->unlock (); > return temp; > } > _________________________________________________________________ > News, entertainment and everything you care about at Live.com. Get it now! > http://www.live.com/getstarted.aspx > > > ------------------------------------------------------------------------ > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Tue Jul 8 20:02:23 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Jul 2008 20:02:23 -0400 Subject: [Aria-users] ARNL path following In-Reply-To: <207CA5955003C644AB4AACB037C898E774DE05@ms2exchange.ms2.iitb.fraunhofer.de> References: <207CA5955003C644AB4AACB037C898E755C992@ms2exchange.ms2.iitb.fraunhofer.de> <486CCEF8.9000202@mobilerobots.com><207CA5955003C644AB4AACB037C898E755C9CB@ms2exchange.ms2.iitb.fraunhofer.de> <48722A4A.5010001@mobilerobots.com> <207CA5955003C644AB4AACB037C898E774DE05@ms2exchange.ms2.iitb.fraunhofer.de> Message-ID: <4874000F.1080508@mobilerobots.com> Here are a few parameters you can try. When adjusting parameters, try them one at a time, and increase or decrease them in increments, and then test to see how it changes. In MobileEyes, change the Parameter Priority to Typical or Advanced to see some of these. First, there are the accelerations and deceleration parameters, in the Robot Config section. These override the platform's (firmware's) defaults for all robot motion. Normally the robot should have good defaults in its firmware, but you may want to change them a little bit, or fix them if someone changed them in the firmware configuration. The Align and Heading and Goal speed parameters in the Path Planning section are only used in certain cases (when rotating while stopped to align with the path, and when the goal is reached, respectively) There are some "clearance" and a "padding" parameter. These define a safety buffer of free space around the robot, it won't plan a path that requires violating this constraint, and if as it drives it happens to sense any obstacle within this region, it will stop the robot. Do you think this is what's happening to your robot? If an obstacle in within the Padding, then it will use SuperMaxTransDecel to try to stop. It can also send an ESTOP command to the robot, which will really make it stop short (and engage brakes)-- but you can disable this with the UseEstop option. If you observe it constantly adjusting its path (in MobileEyes) to try to go around or away from obstacles, and that's causing it to wobble, you can adjust CollisionRange and UseCollisionRangeForPlanning, and/or the clearance parameters. You can also change PlanEverytime. If true, it will be always adjusting the path as it drives. If false, it will only do this if it senses obstacles in the way. You can also tell ARNL not to use the sonar for obstacle avoidance, just the laser. If you don't need the extra coverage it provides (above and below the plane of the laser, and on the sides and in the back), and it's causing path adjustments because of readings seen you can set this to false. Reed From bladower at hotmail.com Wed Jul 9 07:45:31 2008 From: bladower at hotmail.com (Jose perez cara) Date: Wed, 9 Jul 2008 11:45:31 +0000 Subject: [Aria-users] voice synthesizer for peoplebot Message-ID: Hello. I am doing a project with peoplebot and I have the cuestion: is there a voice synthesizer adapted to Castilian-Spanish language for use with Aria? The voice synthesizer that brings original is in English and I wonder if there is anything done to the Spanish language. A greeting and forgive my poor English. _________________________________________________________________ Tecnolog?a, moda, motor, viajes,?suscr?bete a nuestros boletines para estar siempre a la ?ltima Guapos y guapas, clips musicales y estrenos de cine. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080709/7eaf6200/attachment.html From reed at mobilerobots.com Wed Jul 9 08:59:08 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 09 Jul 2008 08:59:08 -0400 Subject: [Aria-users] voice synthesizer for peoplebot In-Reply-To: References: Message-ID: <4874B61C.8030008@mobilerobots.com> Jose perez cara wrote: > Hello. I am doing a project with peoplebot and I have the cuestion: is > there a voice synthesizer adapted to Castilian-Spanish language for use > with Aria? The voice synthesizer that brings original is in English and > I wonder if there is anything done to the Spanish language. > Hi Jose, Are you using ArSpeechSynth_Cepstral or ArSpeechSynth_Festival? Festival includes one Spanish voice but I don't know what it's dialect is. It may be possible to use a Spanish voice with Cepstral but I'd have to find out more about how to do that. Reed From reed at mobilerobots.com Wed Jul 9 09:10:17 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 09 Jul 2008 09:10:17 -0400 Subject: [Aria-users] voice synthesizer for peoplebot In-Reply-To: <4874B61C.8030008@mobilerobots.com> References: <4874B61C.8030008@mobilerobots.com> Message-ID: <4874B8B9.70109@mobilerobots.com> I just checked, and the Spanish voice for Festival (el_diphone) is Castillian. I don't know how good it sounds -- I can understand it pretty clearly if I have it speak simple sentences but I don't speak Spanish or Castillian! You can install new voices into Festival. Festival is in the internalLibs subdirectory and contains README files etc. The Festival web page is at http://www.cstr.ed.ac.uk/projects/festival/ . If, however, you have Cepstral (if you have a Performance Peoplebot with the full audio and speech options you have this) let me know and I'll investigate that. Reed Reed Hedges wrote: > Jose perez cara wrote: >> Hello. I am doing a project with peoplebot and I have the cuestion: is >> there a voice synthesizer adapted to Castilian-Spanish language for use >> with Aria? The voice synthesizer that brings original is in English and >> I wonder if there is anything done to the Spanish language. >> > > Hi Jose, > > Are you using ArSpeechSynth_Cepstral or ArSpeechSynth_Festival? > > Festival includes one Spanish voice but I don't know what it's dialect is. It > may be possible to use a Spanish voice with Cepstral but I'd have to find out > more about how to do that. > > Reed > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > From bruno.lara at uaem.mx Wed Jul 9 19:36:57 2008 From: bruno.lara at uaem.mx (bruno lara) Date: Wed, 09 Jul 2008 18:36:57 -0500 Subject: [Aria-users] buttons Message-ID: <48754B99.2000400@uaem.mx> Hi all; I am trying to program something graphical to control the robot, something rather simple, of the form of buttons to go left or right.... On previous projects I have used tcl/tk just to do quick graphic programming on top of my C programs, I get some serious trouble though on trying to compile tcl/tk together with aria, is there a workaround?? whats the advise for doing some quick buttons under linux( gtk, qt....??) and that does not conflict with aria?? bests and thanks for any advice bruno -- +++++++++++++++++++++++++++++++++++++++++++++ Dr. Bruno Lara Guzman Profesor Investigador Facultad de Ciencias Universidad Aut?noma del Estado de Morelos Av. Universidad 1001. Col. Chamilpa Cuernavaca, Morelos. C. P. 62209-- M E X I C O http://www.fc.uaem.mx +++++++++++++++++++++++++++++++++++++++++++++ Tel (52) (777) 3-29-70 00 x 3280 Fax (52) (777) 3-29-70-40 +++++++++++++++++++++++++++++++++++++++++++++ +++++++++++++++++++++++++++++++++++++++++++++ From bladower at hotmail.com Thu Jul 10 04:48:36 2008 From: bladower at hotmail.com (Jose perez cara) Date: Thu, 10 Jul 2008 08:48:36 +0000 Subject: [Aria-users] voice synthesizer for peoplebot Message-ID: Hello. Sorry but I have expressed wrong. The problem is not the synthesizer, it?s the speech recognizer (sphinx). I believe I must train for the Spanish languaje with SphinxTrainer but I would like to know if someone has already generated input files for the sphinx in Spanish language or if there is anything of this done. A greeting to all and forgive my lack of English.> > I just checked, and the Spanish voice for Festival (el_diphone) is Castillian. > I don't know how good it sounds -- I can understand it pretty clearly if I have > it speak simple sentences but I don't speak Spanish or Castillian!> > You can install new voices into Festival. Festival is in the internalLibs > subdirectory and contains README files etc. The Festival web page is at > http://www.cstr.ed.ac.uk/projects/festival/ .> > If, however, you have Cepstral (if you have a Performance Peoplebot with the > full audio and speech options you have this) let me know and I'll investigate that.> > Reed> > > > > > Reed Hedges wrote:> > Jose perez cara wrote:> >> Hello. I am doing a project with peoplebot and I have the cuestion: is > >> there a voice synthesizer adapted to Castilian-Spanish language for use > >> with Aria? The voice synthesizer that brings original is in English and > >> I wonder if there is anything done to the Spanish language.> >>> > > > Hi Jose,> > > > Are you using ArSpeechSynth_Cepstral or ArSpeechSynth_Festival?> > > > Festival includes one Spanish voice but I don't know what it's dialect is. It > > may be possible to use a Spanish voice with Cepstral but I'd have to find out > > more about how to do that.> > > > Reed> > _________________________________________________________________ Tecnolog?a, moda, motor, viajes,?suscr?bete a nuestros boletines para estar siempre a la ?ltima Guapos y guapas, clips musicales y estrenos de cine. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080710/daeaa1c5/attachment.html From dowlr at essex.ac.uk Thu Jul 10 09:43:29 2008 From: dowlr at essex.ac.uk (Dowling, Robin) Date: Thu, 10 Jul 2008 14:43:29 +0100 Subject: [Aria-users] Errors compiling Arnl examples Message-ID: Hi I have installed Arnl-1.5.1-0 on 3 of our robots. The installation works fine on 1 but not on the other 2. If I try compiling an example say sickLogger.cpp I get the following errors: [/usr/local/Arnl/examples]# make sickLogger g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking sickLogger.cpp -o sickLogger -L../lib -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lArnl sickLogger.cpp: In function `int main (int, char **)': sickLogger.cpp:77: warning: unused variable `bool useSim' /tmp/ccaDyxDi.o: In function `__default_alloc_template::_S_chunk_alloc(unsigned int, int &)': /usr/include/g++-3/stl_alloc.h:467: undefined reference to `Aria::init(Aria::SigHandleMethod, bool, bool)' . . . . . /usr/include/g++-3/stl_alloc.h:518: undefined reference to `ArSimpleConnector::~ArSimpleConnector(void)' /usr/include/g++-3/stl_alloc.h:518: undefined reference to `ArArgumentParser::~ArArgumentParser(void)' collect2: ld returned 1 exit status make: *** [sickLogger] Error 1 Comparing the output of ldconfig and the location and permissions of the significant libraries/headers there appears to be no difference between the one that compiles and links and the one that fails. One failing robot is a P2DX running RedHat7, the other is P2DXe running RedHat 7.3. The successful robot is a P3DX running RedHat 7.3. All robots have gcc-3.4.1 and compile Aria examples successfully. All Arnl installations are clean from the rpm. Also the one that successfully compiles has the following warning: sickLogger.cpp: In function `int main(int, char**)': sickLogger.cpp:77: warning: unused variable 'useSim' In comparison to the warning above there is no space between main and (, or char and **, also bool is missing from 'bool useSim' I would be grateful for any help in resolving this problem. Regards Robin Dowling Technical Support Department of Computing and Electronic Systems University of Essex From wjxnet_126 at 126.com Thu Jul 10 11:01:04 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Thu, 10 Jul 2008 23:01:04 +0800 (CST) Subject: [Aria-users] [Pioneer-users] What type of robot is Pioneer 3-AT? In-Reply-To: <4873EE2B.1010808@mobilerobots.com> References: <4873EE2B.1010808@mobilerobots.com> <28582523.951651215008128974.JavaMail.coremail@bj126app50.126.com> <3316507.613261215488645472.JavaMail.coremail@bj126app22.126.com> Message-ID: <21342491.910191215702064310.JavaMail.coremail@bj126app22.126.com> Thanks,Reed! Could you please give some explainations about differential driving and skid steering, i have seen these two words many times , while do not fully understand them. ?2008-07-09 06:46:03?"Reed Hedges" ??? > >The P3-AT operates as a differential drive robot, though it uses skid >steering, so it does not rotate or drive as smoothly and efficiently as >a two-wheeled differential drive robot like the P3-DX. > > >wjxnet_126 wrote: >> Could anybody gives some suggestions, or hints, Thank you very much! >> >> >> >> >> >> ?2008-07-02 22:15:28?wjxnet_126 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080710/83f15b74/attachment-0001.html From reed at mobilerobots.com Thu Jul 10 21:16:28 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 10 Jul 2008 21:16:28 -0400 Subject: [Aria-users] Java users: time to upgrade to J2SE 6 Message-ID: <4876B46C.2080409@mobilerobots.com> From recent mailing list discussion, it seems that it's finally time to start using Java 1.6 (J2SE version 6) to build the Java wrapper libraries provided with ARIA, ARNL and SONARNL. What do people think? Are there any major incompatibilities or issues with 1.6 that we should be aware of? Will it be impossible for anyone using 1.4 now to switch to 1.6? (Though you will be able to re-build the wrapper of course, if you get Swig.) Thanks Reed From reed at mobilerobots.com Thu Jul 10 23:11:30 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 10 Jul 2008 23:11:30 -0400 Subject: [Aria-users] buttons In-Reply-To: <48754B99.2000400@uaem.mx> References: <48754B99.2000400@uaem.mx> Message-ID: <4876CF62.4080605@mobilerobots.com> Hi Bruno, Some GUI toolkits I know of for C/C++ are GTK, Qt, wxWidgets and FLTK. FLTK may be the easiest to start using right away. So it GTK, though it is an object-oriented toolkit implemented in C so you do have to read a bit more documentation to learn how they do that, though it is not hard to use once you learn that. Similarly, Qt and wxWidgets are both somewhat easy to use once you learn each of their unique event mapping systems (signals/slots in the case of Qt, and event table macros for wx). One thing to be aware of is that none of these GUI toolkits are 100% multi-thread safe; that is you should only really access the GUI library from one thread. ARIA does have a few threads though, for example, if you use ArRobot::runAsync(), then any user task callbacks will be in that thread, not the main thread. (but you can run ArRobot's tasks in the main thread with run() instead if you want). What trouble do you have with Tcl/Tk by the way? Does anyone else on aria-users have experience writing GUIs in a program that also uses ARIA? Reed bruno lara wrote: > Hi all; > > I am trying to program something graphical to control the robot, > something rather simple, of the form of buttons to go left or right.... > > On previous projects I have used tcl/tk just to do quick graphic > programming on top of my C programs, I get some serious trouble though > on trying to compile tcl/tk together with aria, is there a workaround?? > > whats the advise for doing some quick buttons under linux( gtk, > qt....??) and that does not conflict with aria?? > > bests and thanks for any advice > > > > bruno > > > From mjohnson at ihmc.us Thu Jul 10 23:17:38 2008 From: mjohnson at ihmc.us (Matthew Johnson) Date: Thu, 10 Jul 2008 22:17:38 -0500 Subject: [Aria-users] Java users: time to upgrade to J2SE 6 In-Reply-To: <4876B46C.2080409@mobilerobots.com> References: <4876B46C.2080409@mobilerobots.com> Message-ID: <000001c8e304$acb1b1c0$6701a8c0@mjdell> Yes, we have been using Java 1.6 for a while. I encourage the switch. Unless you use specific 1.6 features, such as generics, backward compatibility is not a problem. Even if you do make use of these features, it is extremely easy to upgrade versions of Java, much easier then rebuilding things with Swig. Matt -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Thursday, July 10, 2008 8:16 PM To: Aria Users Mailing List Subject: [Aria-users] Java users: time to upgrade to J2SE 6 From recent mailing list discussion, it seems that it's finally time to start using Java 1.6 (J2SE version 6) to build the Java wrapper libraries provided with ARIA, ARNL and SONARNL. What do people think? Are there any major incompatibilities or issues with 1.6 that we should be aware of? Will it be impossible for anyone using 1.4 now to switch to 1.6? (Though you will be able to re-build the wrapper of course, if you get Swig.) Thanks Reed _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com From mjohnson at ihmc.us Thu Jul 10 23:20:46 2008 From: mjohnson at ihmc.us (Matthew Johnson) Date: Thu, 10 Jul 2008 22:20:46 -0500 Subject: [Aria-users] buttons In-Reply-To: <4876CF62.4080605@mobilerobots.com> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> Message-ID: <000101c8e305$1c897050$6701a8c0@mjdell> I have been using Aria with Java GUIs for several years and haven't had any problems. Matt -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Thursday, July 10, 2008 10:12 PM To: aria-users at lists.mobilerobots.com Subject: Re: [Aria-users] buttons Hi Bruno, Some GUI toolkits I know of for C/C++ are GTK, Qt, wxWidgets and FLTK. FLTK may be the easiest to start using right away. So it GTK, though it is an object-oriented toolkit implemented in C so you do have to read a bit more documentation to learn how they do that, though it is not hard to use once you learn that. Similarly, Qt and wxWidgets are both somewhat easy to use once you learn each of their unique event mapping systems (signals/slots in the case of Qt, and event table macros for wx). One thing to be aware of is that none of these GUI toolkits are 100% multi-thread safe; that is you should only really access the GUI library from one thread. ARIA does have a few threads though, for example, if you use ArRobot::runAsync(), then any user task callbacks will be in that thread, not the main thread. (but you can run ArRobot's tasks in the main thread with run() instead if you want). What trouble do you have with Tcl/Tk by the way? Does anyone else on aria-users have experience writing GUIs in a program that also uses ARIA? Reed bruno lara wrote: > Hi all; > > I am trying to program something graphical to control the robot, > something rather simple, of the form of buttons to go left or right.... > > On previous projects I have used tcl/tk just to do quick graphic > programming on top of my C programs, I get some serious trouble though > on trying to compile tcl/tk together with aria, is there a workaround?? > > whats the advise for doing some quick buttons under linux( gtk, > qt....??) and that does not conflict with aria?? > > bests and thanks for any advice > > > > bruno > > > _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com From jyotikab83 at gmail.com Fri Jul 11 03:59:34 2008 From: jyotikab83 at gmail.com (Jyotika Bahuguna) Date: Fri, 11 Jul 2008 13:29:34 +0530 Subject: [Aria-users] Errors compiling Arnl examples In-Reply-To: References: Message-ID: Hi, I had a similar problem, but then i found out that i wasn't linking the aria lib (-lAria). It was a makefile auto generated by qmake. I was using Aria with QT. Looking at your logs, it looks like it is linking some Aria library. * sickLogger -L../lib -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl* There can be following problems: 1) libArNetworkingForArnl.so is not in the directory ../lib - In that case just set the correct path. 2) ArSimpleConnector , Aria::init dont have definitions in the aria library that you have linked. - In that case just add an extra -lAria to the list. ( You can check this by doing a objdump -x *libArNetworkingForArnl.so | grep ArSimpleConnector * if it gives UND (undefined),it means the ArSimpleConnector is not defined in the networking library. ) Hope it helps, On Thu, Jul 10, 2008 at 7:13 PM, Dowling, Robin wrote: > Hi > I have installed Arnl-1.5.1-0 on 3 of our robots. The installation works > fine on 1 but not on the other 2. If I try compiling an example say > sickLogger.cpp I get the following errors: > [/usr/local/Arnl/examples]# make sickLogger > g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include > -I../include/Aria -I../include/ArNetworking sickLogger.cpp -o > sickLogger -L../lib -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl > -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lArnl > sickLogger.cpp: In function `int main (int, char **)': > sickLogger.cpp:77: warning: unused variable `bool useSim' > /tmp/ccaDyxDi.o: In function `__default_alloc_template 0>::_S_chunk_alloc(unsigned int, int &)': > /usr/include/g++-3/stl_alloc.h:467: undefined reference to > `Aria::init(Aria::SigHandleMethod, bool, bool)' > . > . > . > . > . > /usr/include/g++-3/stl_alloc.h:518: undefined reference to > `ArSimpleConnector::~ArSimpleConnector(void)' > /usr/include/g++-3/stl_alloc.h:518: undefined reference to > `ArArgumentParser::~ArArgumentParser(void)' > collect2: ld returned 1 exit status > make: *** [sickLogger] Error 1 > > Comparing the output of ldconfig and the location and permissions of the > significant libraries/headers there appears to be no difference between > the one that compiles and links and the one that fails. > One failing robot is a P2DX running RedHat7, the other is P2DXe running > RedHat 7.3. The successful robot is a P3DX running RedHat 7.3. > All robots have gcc-3.4.1 and compile Aria examples successfully. > All Arnl installations are clean from the rpm. > > Also the one that successfully compiles has the following warning: > > sickLogger.cpp: In function `int main(int, char**)': > sickLogger.cpp:77: warning: unused variable 'useSim' > > In comparison to the warning above there is no space between main and (, > or char and **, also bool is missing from 'bool useSim' > > I would be grateful for any help in resolving this problem. > > Regards > Robin Dowling > Technical Support > Department of Computing and Electronic Systems > University of Essex > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080711/d1ea6dbf/attachment.html From aaron123 at ksu.edu Fri Jul 11 09:28:53 2008 From: aaron123 at ksu.edu (Aaron Chleborad) Date: Fri, 11 Jul 2008 08:28:53 -0500 Subject: [Aria-users] Java users: time to upgrade to J2SE 6 In-Reply-To: <4876B46C.2080409@mobilerobots.com> References: <4876B46C.2080409@mobilerobots.com> Message-ID: <1215782933.48776015619c4@webmail.ksu.edu> I think it is a good idea. Those wanting to use Java 1.5 and 1.6 features will be able to without the need to rebuild the wrapper themselves. Quoting Reed Hedges : > > From recent mailing list discussion, it seems that it's finally time > to > start using Java 1.6 (J2SE version 6) to build the Java wrapper > libraries provided with ARIA, ARNL and SONARNL. > > What do people think? Are there any major incompatibilities or > issues > with 1.6 that we should be aware of? > > Will it be impossible for anyone using 1.4 now to switch to 1.6? > (Though > you will be able to re-build the wrapper of course, if you get Swig.) > > Thanks > > Reed > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > -- Aaron Chleborad Kansas State University Department of Computing and Information Sciences Research Assistant http://macr.cis.ksu.edu/ From j_votion at yahoo.com Fri Jul 11 11:25:37 2008 From: j_votion at yahoo.com (Johnathan Votion) Date: Fri, 11 Jul 2008 08:25:37 -0700 (PDT) Subject: [Aria-users] Compiling issues Message-ID: <744338.21722.qm@web58211.mail.re3.yahoo.com> I am are currently having trouble with with compiling the example code, guiserversonar. I had recently installed all the MobileRobot software, with the exception of Mapper3 Basic, on my personal computer. Upon installation guiserversonar runs fine. I run the executable with and without using a map as a parameter. I understand that the example codes were originally compiled and built using an earlier version, in addition I learned via the ARIA online community that the ARNL libraries are not compatible with VSC++ version 9. I went ahead and installed VSC++ version 8 2005 and attempted to recompile and rebuild guiserversonar to assure compatability and make sure everything is functional. I took the precautions of using the "vc8" DLLs and "vc8" include files. in addition I used: C:\Program Files\Microsoft SDKs\Windows\v6.0A\Include C:\Program Files\Microsoft SDKs\Windows\v6.0A\Lib After compilation and building the project I tried running the program without using a map as the parameter; it ran fine, even connected to MobileEyes. But when I tried running the program with a map as the parameter the program crashes and I get a send error report. Alternativly, I ran the program without using a map as a parameter and then opened MobileEyes. Upon opening MobileEyes I get a warning telling me that ther exists no map. Then when going to robot configuration and manually entering the map, it says the map is not a valid configuration file. If you have any tips that can help me with this problem it would be much appreciated. Thank you for your time. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080711/d467af48/attachment-0001.html From reed at mobilerobots.com Fri Jul 11 13:25:58 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 11 Jul 2008 13:25:58 -0400 Subject: [Aria-users] Compiling issues In-Reply-To: <744338.21722.qm@web58211.mail.re3.yahoo.com> References: <744338.21722.qm@web58211.mail.re3.yahoo.com> Message-ID: <487797A6.4020903@mobilerobots.com> Hello, > After compilation and building the project I tried running the program > without using a map as the parameter; it ran fine, even connected to > MobileEyes. But when I tried running the program with a map as the > parameter the program crashes and I get a send error report. Not sure why this happens but will investigate it -- can you send a copy of the output of guiServerSonar (from its console window), and also if you can enter the debugger and see if there is anything useful in its stack trace? > > Alternativly, I ran the program without using a map as a parameter and > then opened MobileEyes. Upon opening MobileEyes I get a warning telling > me that ther exists no map. Then when going to robot configuration and > manually entering the map, it says the map is not a valid configuration > file. How do you set the map file in the Robot Configuration? You should click the "Files" section, and enter it in the entry for "Map". Write the full path to the map file in that box. (The "File Options" menu is for loading a whole configuration from file, not the map.) Reed From bruno.lara at uaem.mx Fri Jul 11 13:50:05 2008 From: bruno.lara at uaem.mx (bruno lara) Date: Fri, 11 Jul 2008 12:50:05 -0500 Subject: [Aria-users] buttons In-Reply-To: <4876CF62.4080605@mobilerobots.com> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> Message-ID: <48779D4D.4000502@uaem.mx> Hi Reed, thanks a lot, I started checking gtk and it seems ok, the error I get is on compiling: /usr/local/Aria/include/ArMutex.h:59: error: multiple types in one declaration to be honest I didn't dive into tcl/tk to check whether it was a real issue, it would ease my life a lot if it would work, so I might still give it another try, do you think it is worth, can you imagine what is the problem? bests bruno Reed Hedges wrote: > Hi Bruno, > > Some GUI toolkits I know of for C/C++ are GTK, Qt, wxWidgets and FLTK. > FLTK may be the easiest to start using right away. So it GTK, though it > is an object-oriented toolkit implemented in C so you do have to read a > bit more documentation to learn how they do that, though it is not hard > to use once you learn that. Similarly, Qt and wxWidgets are both > somewhat easy to use once you learn each of their unique event mapping > systems (signals/slots in the case of Qt, and event table macros for > wx). One thing to be aware of is that none of these GUI toolkits are > 100% multi-thread safe; that is you should only really access the GUI > library from one thread. ARIA does have a few threads though, for > example, if you use ArRobot::runAsync(), then any user task callbacks > will be in that thread, not the main thread. (but you can run ArRobot's > tasks in the main thread with run() instead if you want). > > What trouble do you have with Tcl/Tk by the way? > > Does anyone else on aria-users have experience writing GUIs in a program > that also uses ARIA? > > Reed > > > bruno lara wrote: > >> Hi all; >> >> I am trying to program something graphical to control the robot, >> something rather simple, of the form of buttons to go left or right.... >> >> On previous projects I have used tcl/tk just to do quick graphic >> programming on top of my C programs, I get some serious trouble though >> on trying to compile tcl/tk together with aria, is there a workaround?? >> >> whats the advise for doing some quick buttons under linux( gtk, >> qt....??) and that does not conflict with aria?? >> >> bests and thanks for any advice >> >> >> >> bruno >> >> >> >> > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -- +++++++++++++++++++++++++++++++++++++++++++++ Dr. Bruno Lara Guzman Profesor Investigador Facultad de Ciencias Universidad Aut?noma del Estado de Morelos Av. Universidad 1001. Col. Chamilpa Cuernavaca, Morelos. C. P. 62209-- M E X I C O http://www.fc.uaem.mx +++++++++++++++++++++++++++++++++++++++++++++ Tel (52) (777) 3-29-70 00 x 3280 Fax (52) (777) 3-29-70-40 +++++++++++++++++++++++++++++++++++++++++++++ +++++++++++++++++++++++++++++++++++++++++++++ From kennedy at MobileRobots.com Mon Jul 14 08:48:34 2008 From: kennedy at MobileRobots.com (William Kennedy) Date: Mon, 14 Jul 2008 08:48:34 -0400 Subject: [Aria-users] help required by unversity of surrey students working on Pioneer Arm In-Reply-To: References: Message-ID: <6.2.5.6.2.20080714084750.036cecd8@MobileRobots.com> Gentlemen: I have forwarded your request to pioneer-support and aria-users. Dr. Bill At Monday 7/14/2008, xfcjd db wrote: >Dear William Kennedy >From:institution: university of surrey > model: P3AT > serialnum: GJCC3022 >Dr Vaios Lappas is our supervisor here at the university he told us >to contact you if we are stuck in some problem, so if could solve >the following questions for us: >Q1:when we give one set of (five)angles after the other in >ArAKinExample, the pioneer arm donot change directly to the new set >of angles, rather it goes to some fix central position and then >follow the new angles. what we want it to directly follow the new >set of angles. guide us how to do this? >Q2:how to move joints of the pioneer arm individually? >Q3:how to change programed home position of the arm? >Q4:we require link parameters of the pioneer arm like >link length >offset link twist angle >offset distance >joint angle > >Thanks >Regards >Students > > >---------- >Invite your mail contacts to join your friends list with Windows >Live Spaces. It's easy! >Try >it! From pierrel at fit.edu Mon Jul 14 15:14:21 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Mon, 14 Jul 2008 15:14:21 -0400 Subject: [Aria-users] Powerbot Safety/Warning Light Message-ID: <487BA58D.6080700@fit.edu> Hello, We are getting our powerbot up and running. As it is wandering the halls here it is clear to us that we need to install some sort of flashing/blinking safety/warning light on to the powerbot's deck. I have searched all of the available documentation and can not find any wiring diagrams etc. I would like to power a yellow flashing warning light (24v dc) from the robot's on-board power. It would be preferable to have the light go on anytime the robot is on (e.g. arcos is active). I am certain many out there have already done this- whatever experience, advice, or guidance (or even wiring diagrams!) you could provide would be appreciated. Thanks! - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ From pierrel at fit.edu Mon Jul 14 15:21:55 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Mon, 14 Jul 2008 15:21:55 -0400 Subject: [Aria-users] powerbot battery level indicator Message-ID: <487BA753.1070902@fit.edu> Hello, We have been using our powerbot for a few eeks now (through many charge cycles) and have noticed that the battery indicator LED on the User Control panel never changes color (as is stated on page 11 of the Powerbot Manual). The LED is always green and will stay green at all times (even when the system automatically shuts down due to low voltage). The system voltage reported in MobileEyes and the Aria/Demo code we are running appears to be accurate and we have been using that to tell us when it is time to recharge. Has the battery led been implemented on other powerbots? Is our powerbot not functioning properly? Is this something we should concern ourselves with? Thanks! - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ From reed at mobilerobots.com Mon Jul 14 15:35:19 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 14 Jul 2008 15:35:19 -0400 Subject: [Aria-users] powerbot battery level indicator In-Reply-To: <487BA753.1070902@fit.edu> References: <487BA753.1070902@fit.edu> Message-ID: <487BAA77.8030704@mobilerobots.com> Hi Pierre, I don't know when the LED changes color, but I think that with the 24 V supply in the Powerbot, the low voltage warning and automatic shutdown happens at a higher voltage than the LED would change color (which was originally meant for 12 V Pioneers). I can find out for sure from folks who would know better though, if you want. Reed Pierre Larochelle wrote: > Hello, > > We have been using our powerbot for a few eeks now (through many charge > cycles) and have noticed that the battery indicator LED on the User > Control panel never changes color (as is stated on page 11 of the > Powerbot Manual). The LED is always green and will stay green at all > times (even when the system automatically shuts down due to low > voltage). The system voltage reported in MobileEyes and the Aria/Demo > code we are running appears to be accurate and we have been using that > to tell us when it is time to recharge. > > Has the battery led been implemented on other powerbots? Is our powerbot > not functioning properly? Is this something we should concern ourselves > with? > > Thanks! > > - Pierre > From reed at mobilerobots.com Mon Jul 14 15:42:03 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 14 Jul 2008 15:42:03 -0400 Subject: [Aria-users] Powerbot Safety/Warning Light In-Reply-To: <487BA58D.6080700@fit.edu> References: <487BA58D.6080700@fit.edu> Message-ID: <487BAC0B.5040400@mobilerobots.com> You can get 12 V DC from the motor power board. The microcontroller has a digital output (5v) you could use to switch the light (there is a client command DIGOUT to do this -- send it via ArRobot::comInt()). Or you could switch it with a computer serial port too. See the robot manual for details: "Client Commands" section and "Input Output" secnion in Chapter 6. Appendix B for where the I/O port is on the microcontroller board. Appendix B for the Power Distribution board. Email support at mobilerobots.com if you have any questions on how to best interface with these systems safely. Pierre Larochelle wrote: > Hello, > > We are getting our powerbot up and running. As it is wandering the halls > here it is clear to us that we need to install some sort of > flashing/blinking safety/warning light on to the powerbot's deck. > > I have searched all of the available documentation and can not find any > wiring diagrams etc. I would like to power a yellow flashing warning > light (24v dc) from the robot's on-board power. It would be preferable > to have the light go on anytime the robot is on (e.g. arcos is active). > > I am certain many out there have already done this- whatever experience, > advice, or guidance (or even wiring diagrams!) you could provide would > be appreciated. > > Thanks! > > - Pierre > From reed at mobilerobots.com Mon Jul 14 16:10:06 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 14 Jul 2008 16:10:06 -0400 Subject: [Aria-users] buttons In-Reply-To: <48779D4D.4000502@uaem.mx> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> <48779D4D.4000502@uaem.mx> Message-ID: <487BB29E.7080308@mobilerobots.com> bruno lara wrote: > Hi Reed, > > thanks a lot, I started checking gtk and it seems ok, > > the error I get is on compiling: > > > /usr/local/Aria/include/ArMutex.h:59: error: multiple types in one > declaration Make sure you are using the C++ compiler when compiling your program, not the C compiler. You can still use C header files and libraries with a C++ program. (I think this may be the problem, if not let me know and I'll look into it more.) Reed From reed at mobilerobots.com Mon Jul 14 16:22:54 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 14 Jul 2008 16:22:54 -0400 Subject: [Aria-users] voice synthesizer for peoplebot In-Reply-To: References: Message-ID: <487BB59E.8040607@mobilerobots.com> ArSpeechRec_Sphinx comes ready to recognize English only. Sphinx2 (the actual recognition engine) is somewhat general however, and might do Spanish, but I don't know for sure. More about Sphinx2 is here: http://cmusphinx.sourceforge.net/sphinx2/doc http://cmusphinx.sourceforge.net/sphinx2/doc/sphinx2.html Or you can ask about it on their lists, though note that there are other newer versions of Sphinx too (Sphinx 3 and 4 now), so most people involved with the project may only be working on the latest version. Reed From paloma_py at hotmail.com Tue Jul 15 05:07:59 2008 From: paloma_py at hotmail.com (Paloma de la Puente Yusty) Date: Tue, 15 Jul 2008 11:07:59 +0200 Subject: [Aria-users] patrolbot loading capacity Message-ID: Hello, I am not sure this is the best place to ask this, but I would like to know how much weight the patrolbot can carry. The values mentioned in the manuals are quite different from those provided in the web page specifications. Thank you, Paloma _________________________________________________________________ Tu mejor plan para el fin de semana y toda la actualidad del mundo del coraz?n. Entra en MSN Entretenimiento http://entretenimiento.es.msn.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080715/f0e0fe3a/attachment-0001.html From paloma_py at hotmail.com Tue Jul 15 05:07:59 2008 From: paloma_py at hotmail.com (Paloma de la Puente Yusty) Date: Tue, 15 Jul 2008 11:07:59 +0200 Subject: [Aria-users] patrolbot loading capacity Message-ID: Hello, I am not sure this is the best place to ask this, but I would like to know how much weight the patrolbot can carry. The values mentioned in the manuals are quite different from those provided in the web page specifications. Thank you, Paloma _________________________________________________________________ Tu mejor plan para el fin de semana y toda la actualidad del mundo del coraz?n. Entra en MSN Entretenimiento http://entretenimiento.es.msn.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080715/f0e0fe3a/attachment-0002.html From blomba at unione.com.br Tue Jul 15 06:08:29 2008 From: blomba at unione.com.br (Bruno Teixeira Lomba) Date: Tue, 15 Jul 2008 07:08:29 -0300 Subject: [Aria-users] Sample Code for implementation Message-ID: <200807150708.AA40436008@unione.com.br> Hi, I developed a sample code to the localization of a robot (actually I want to do SLAM, but as my robot doesn`t have Laser, only Sonar, the mapping will not be viable) ... How do I get run this code (.cpp)? Must I add in some specific folder? Who can help me, I thank you very much Regards Bruno Lomba From kennedy at MobileRobots.com Tue Jul 15 11:50:04 2008 From: kennedy at MobileRobots.com (William Kennedy) Date: Tue, 15 Jul 2008 11:50:04 -0400 Subject: [Aria-users] ARCOS 2.4 Message-ID: <6.2.5.6.2.20080715114825.03718c60@MobileRobots.com> Hi, everyone: We discovered a minor bug in the July 4 release of ARCOS 2.4, so I fixed it and am re-releasing 2.4. Update as needed from http://robots.mobilerobots.com. Regards, Bill Kennedy From pierrel at fit.edu Tue Jul 15 11:57:17 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Tue, 15 Jul 2008 11:57:17 -0400 Subject: [Aria-users] Defining and Using "home" in Mapper3 & MobileEyes Message-ID: <487CC8DD.6000408@fit.edu> Hello, We have been successful in creating and editing maps using MobileEyes and Mapper3. However, we can not define and use the "home" location. To date when starting the system and loading a map we have to manually localize in order to use the map. We can create and edit a map and define a home location using Mapper3. When using MobileEyes if we send the robot to "home" it goes to the origin of the map instead of the home location we have defined. How can we have the robot go to the home location instead of the origin of the map? It seems to us that we are missing some step of the process to define a home location. Moreover, it appears in mapper3 that you can define multiple home locations. When using MobileEyes, if you send the robot to "home" which of the home locations will it send the robot to? Thanks! - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ From reed at mobilerobots.com Tue Jul 15 19:30:16 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 15 Jul 2008 19:30:16 -0400 Subject: [Aria-users] Defining and Using "home" in Mapper3 & MobileEyes In-Reply-To: <487CC8DD.6000408@fit.edu> References: <487CC8DD.6000408@fit.edu> Message-ID: <487D3308.2030604@mobilerobots.com> I think the "go to home" behavior is a bug that will be fixed in the next version of ARNL. If you remove the home points from the map, and place the robot at the location that corresponds to the 0,0,0 position before starting the server, is it able to localize? localizeRobotAtHomeBlocking() tries localizing at each home point (one or more), as well as whatever the robot's current pose is, and uses the position with the best localization match to set the new robot pose. Pierre Larochelle wrote: > Hello, > > We have been successful in creating and editing maps using MobileEyes > and Mapper3. However, we can not define and use the "home" location. To > date when starting the system and loading a map we have to manually > localize in order to use the map. > > We can create and edit a map and define a home location using Mapper3. > When using MobileEyes if we send the robot to "home" it goes to the > origin of the map instead of the home location we have defined. How can > we have the robot go to the home location instead of the origin of the > map? It seems to us that we are missing some step of the process to > define a home location. > > Moreover, it appears in mapper3 that you can define multiple home > locations. When using MobileEyes, if you send the robot to "home" which > of the home locations will it send the robot to? > > Thanks! > > - Pierre > From reed at mobilerobots.com Wed Jul 16 10:39:57 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 16 Jul 2008 10:39:57 -0400 Subject: [Aria-users] Sample Code for implementation In-Reply-To: <200807150708.AA40436008@unione.com.br> References: <200807150708.AA40436008@unione.com.br> Message-ID: <487E083D.702@mobilerobots.com> Hi Bruno, you just need to run a program on the onboard computer. ARIA is installed on that computer. See ARIA's README.txt file for information about compiling new programs. An easy way to get started is to make a copy of one of the programs in ARIA's "examples" folder, and modify it. Then you can build it with "make" just like the other examples. If running Windows on the onboard computer, you would need to create a new Visual C++ project file too, with the right settings... see README.txt. Reed Bruno Teixeira Lomba wrote: > Hi, > > I developed a sample code to the localization of a robot (actually I want to do SLAM, but as my robot doesn`t have Laser, only Sonar, the mapping will not be viable) ... > > How do I get run this code (.cpp)? > > Must I add in some specific folder? > > Who can help me, I thank you very much > > Regards > > Bruno Lomba > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > From kennedy at MobileRobots.com Thu Jul 17 11:17:49 2008 From: kennedy at MobileRobots.com (William Kennedy) Date: Thu, 17 Jul 2008 11:17:49 -0400 Subject: [Aria-users] uARCS firmware release Message-ID: <6.2.5.6.2.20080717111618.03762808@MobileRobots.com> uARCS version 4.4 officially released today. Contact http://robots.MobileRobots.com for details. Regards, William Kennedy, PhD From j_votion at yahoo.com Thu Jul 17 16:41:37 2008 From: j_votion at yahoo.com (Johnathan Votion) Date: Thu, 17 Jul 2008 13:41:37 -0700 (PDT) Subject: [Aria-users] ArPose::getTh Message-ID: <583948.1981.qm@web58208.mail.re3.yahoo.com> I know that ArPose::getTh returns the heading in degrees, but does it return the degrees with respect to the robots original heading when the program starts or with respect to the map. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080717/44455346/attachment.html From pierrel at fit.edu Fri Jul 18 11:20:27 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Fri, 18 Jul 2008 11:20:27 -0400 Subject: [Aria-users] Missing Aria example code Message-ID: <4880B4BB.8060306@fit.edu> Hello, We are beginning to use ARIA and are starting with the demo programs. In usr/local/Aria/Examples the README mentions an example program called actsSimple. That program is not found in our Aria/examples directory. It is not in Aria/advanced either. Any ideas where this example code may be found? Thanks! - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ From bruno.lara at uaem.mx Fri Jul 18 11:49:14 2008 From: bruno.lara at uaem.mx (bruno lara) Date: Fri, 18 Jul 2008 10:49:14 -0500 Subject: [Aria-users] buttons In-Reply-To: <487BB29E.7080308@mobilerobots.com> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> <48779D4D.4000502@uaem.mx> <487BB29E.7080308@mobilerobots.com> Message-ID: <4880BB7A.2010801@uaem.mx> Reed; After the last email I gave a second go and it comes aout it is something rather funky everything else been equal, if you include Aria.h before tcl.h and tk.h there is no problem, if you do the opposite then the error I had mentioned before occurs... I dont understand really what's the problem, can it be something on my system? but anyway, now it works bests bruno Reed Hedges wrote: > bruno lara wrote: > >> Hi Reed, >> >> thanks a lot, I started checking gtk and it seems ok, >> >> the error I get is on compiling: >> >> >> /usr/local/Aria/include/ArMutex.h:59: error: multiple types in one >> declaration >> > > Make sure you are using the C++ compiler when compiling your program, > not the C compiler. You can still use C header files and libraries with > a C++ program. > > (I think this may be the problem, if not let me know and I'll look into > it more.) > > Reed > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -- +++++++++++++++++++++++++++++++++++++++++++++ Dr. Bruno Lara Guzman Profesor Investigador Facultad de Ciencias Universidad Aut?noma del Estado de Morelos Av. Universidad 1001. Col. Chamilpa Cuernavaca, Morelos. C. P. 62209-- M E X I C O http://www.fc.uaem.mx +++++++++++++++++++++++++++++++++++++++++++++ Tel (52) (777) 3-29-70 00 x 3280 Fax (52) (777) 3-29-70-40 +++++++++++++++++++++++++++++++++++++++++++++ +++++++++++++++++++++++++++++++++++++++++++++ From zeb at mobilerobots.com Fri Jul 18 12:52:34 2008 From: zeb at mobilerobots.com (Zeb Dahl) Date: Fri, 18 Jul 2008 12:52:34 -0400 Subject: [Aria-users] Missing Aria example code In-Reply-To: <4880B4BB.8060306@fit.edu> References: <4880B4BB.8060306@fit.edu> Message-ID: <1216399954.5504.30.camel@localhost.localdomain> Hello Pierre, I think that actsSimple is probably intended to refer to actsDemoSimple which should be found in Aria/advanced/. Best, -Zeb Dahl On Fri, 2008-07-18 at 11:20 -0400, Pierre Larochelle wrote: > Hello, > > We are beginning to use ARIA and are starting with the demo programs. > > In usr/local/Aria/Examples the README mentions an example program called > actsSimple. That program is not found in our Aria/examples directory. It > is not in Aria/advanced either. > > Any ideas where this example code may be found? > > Thanks! > > - Pierre > From reed at mobilerobots.com Fri Jul 18 18:13:23 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 18 Jul 2008 18:13:23 -0400 Subject: [Aria-users] Missing Aria example code In-Reply-To: <4880B4BB.8060306@fit.edu> References: <4880B4BB.8060306@fit.edu> Message-ID: <48811583.6010607@mobilerobots.com> This program may have been replaced by an updated program called actsColorFollowingExample.cpp, or you can use one of the acts examples in 'advanced'. Reed From reed at mobilerobots.com Fri Jul 18 18:20:25 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 18 Jul 2008 18:20:25 -0400 Subject: [Aria-users] buttons In-Reply-To: <4880BB7A.2010801@uaem.mx> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> <48779D4D.4000502@uaem.mx> <487BB29E.7080308@mobilerobots.com> <4880BB7A.2010801@uaem.mx> Message-ID: <48811729.7060105@mobilerobots.com> Can you write the smallest program that shows the error and post it? I.e. a program that just has the #include statements such that the error occurs, and a main() function so that it can be compiled. Reed From reed at mobilerobots.com Mon Jul 21 10:39:18 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 21 Jul 2008 10:39:18 -0400 Subject: [Aria-users] ArPose::getTh In-Reply-To: <583948.1981.qm@web58208.mail.re3.yahoo.com> References: <583948.1981.qm@web58208.mail.re3.yahoo.com> Message-ID: <48849F96.3030001@mobilerobots.com> Hi Johnathan, The angle starts at 0 when a program first connects, or when a program resets the position to (0,0,0) with the SETO command ("robot.com(ArCommands::SETO)" in ARIA). Then, the position is updated as the robot moves. However, within ARIA, you can reset the position with ArRobot::moveTo(). ARNL's localization does this. Then any position updates are relative to that. So moveTo() basically resets the coordinate system of the position reported by ArRobot. Reed Johnathan Votion wrote: > I know that ArPose::getTh returns the heading in degrees, but does it return the degrees with respect to the robots original heading when the program starts or with respect to the map. > > > From albertocorralesgarcia at gmail.com Wed Jul 23 07:22:13 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 23 Jul 2008 13:22:13 +0200 Subject: [Aria-users] video server In-Reply-To: <486505FD.7080403@mobilerobots.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <4803CDA4.1010101@mobilerobots.com> <1672c7d80806121156h69f4b29at760364f4846315d7@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> Message-ID: <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> Hi, I'm trying to do my own video server, but it doesn't work. I have that code which opens a jpeg file and send it, but it sends well the image parameters, but it sends wrong the image data. What am I doing wrong? HELP PLEASE!!! My code: *ArServerBase server; int main(int argc, char* argv[]) { Aria::init(); ArGlobalFunctor2 sendVideoFunctionCB (&sendVideoFunction); server.addData("sendVideo", "send video", &sendVideoFunctionCB, "", ""); if(!server.open(7070)) { printf("I can't open the server port"); exit(1); } server.run(); return 0; } void sendVideoFunction(ArServerClient *client, ArNetPacket *packet) { ArNetPacket imagePacket; unsigned int width = 320; unsigned int height = 240; unsigned char jpeg[50000]; int jpegSize = 0; FILE *file; imagePacket.uByte2ToBuf(width); imagePacket.uByte2ToBuf(height); if((file=fopen("prueba.jpg","rb")) != NULL) { jpegSize = fread(jpeg,sizeof(unsigned char),50000,file); imagePacket.setLength(jpegSize); fclose(file); printf("size %d",jpegSize); imagePacket.dataToBuf((const unsigned char *)jpeg,jpegSize); } imagePacket.finalizePacket(); client->sendPacketUdp(&imagePacket); }* 2008/6/27 Reed Hedges : > > Hi Alberto, > > What SAV server does is compress the image to a JPEG and send that using > ArNetworking. You can use libjpeg to do that on Linux (it's a standard > library, > you can install it from RedHat or use apt-get on Debian). > > To transfer the images using ArNetworking, on the server set up a packet > handler > to respond to "getPictureCam1" requests. In each reply packet put a pair of > 16-bit integers containing image width and height in pixels using > uByte2ToBuf(), > then the JPEG data using dataToBuf(). The ArNetworking example > getVideoExample.cpp requests images using getPictureCam1 and this packet > format. > MobileEyes does too, so you can use that as your client if you just want > to > see the image (you could also then use ArConfig to store any parameters and > use > ArServerHandlerConfig to let MobileEyes modify the values in ArConfig too.) > > > > If I have time later I'll write an example which does this. But if you look > at > the other ArNetworking example servers which respond to packets you should > be > able to do the same thing, but put the image width, height and JPEG data in > it > instead. > > > > Reed > > > Alberto Corrales Garcia wrote: > > Hello and thank you for your help, > > I'm learning about Aria and ArNetworking but I'm a little confusing, > > because some subjects are different to the traditional C++ programming. > > > > I would be very pleased if you could send me code for a server video or > > tell me how I can respond to the video requests. > > > > Regards > > > > > > 2008/6/17 Reed Hedges > >: > > > > Alberto Corrales Garcia wrote: > > > yes, I think if the source and the receiver would be synchronize > > sendig > > > frames to see the video correctly. I saw the class > > > ArHybridForwarderVideo, which has some methods to manage that > > subject, > > > but I don't know how it work and I didn't see any example. Could > you > > > tell me about that class? > > > > Hi Alberto, > > > > The client will receive each packet from the server (source) in turn, > at > > whatever rate it requests. For example if you call: > > > > client.addHandler("getPictureCam1", &handlerFunctor); > > client.request("getPictureCam1", 30); > > > > Then the client will send the getPictureCam1 request to the server > > 30 times a > > second. And the client's callback function will be called serially > > for each > > response packet is received (one thread). > > > > When the server receives a request it may then read an image from the > > framegrabber, or it may have an image stored from an asynchronous > > thread... I > > don't remember how exactly it works right now but will look at some > > of the code > > to see if I can determine that. > > > > However, in either case the server won't get "backed up"-- there is > > no queue of > > images waiting to be sent, it's always the most recent one it has. > > (How your > > client program handles the images is up to you though.) It is > > possible to > > "miss" a potentially unique image, but you can minimize this by > > using a request > > rate faster than the framegrabber's own rate of generating images > > (you will get > > some duplicate images in that case). > > > > So the client is synchronized with the server by the > > request-response mechanism, > > but this is may be asynchronous in a sense from how the framegrabber > > or other > > source is providing images or compared to the ideal sequence of > > unique images > > you could be getting. > > > > ArHybridForwarderVideo is a class used to forward ArNetworking video > > requests > > and data obtained from another ArNetworkingServer. For example if > > you start > > ACTS or SAVServer, it provides video images on port 7070 using > > ArNetworking. If > > you then start ARNL's guiServer, it contains an > > ArHybridForwarderVideo object, > > which grabs the images from ACTS or SAVServer, and turns around and > > provides > > them on the same port as the rest of its services (robot info, path > > planning, > > map, config, etc.). Then you can connect with MobileEyes and get > > all the > > services, including video images, from the same server and port. > > > > Does this make sense? Let me know if there are any details you > > need me to find > > out. > > > > Reed > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080723/40d522fc/attachment.html From lafary at mobilerobots.com Wed Jul 23 10:26:04 2008 From: lafary at mobilerobots.com (Matt LaFary) Date: Wed, 23 Jul 2008 10:26:04 -0400 Subject: [Aria-users] video server In-Reply-To: <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <4803CDA4.1010101@mobilerobots.com> <1672c7d80806121156h69f4b29at760364f4846315d7@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> Message-ID: <48873F7C.5050506@mobilerobots.com> The problem is the call to imagePacket.setLength.... you should never use it like that, since that says how much information is already in the packet. So right now the code is putting the jpeg information in the position after where it should be. If you take that setLength call out, I think your code will work better... until you have a jpeg larger than 32000 bytes. That's all that will fit into an ArNetPacket. So after that you'll only get partial information. What our stuff does is compress the jpeg image again until it'll fit in a packet, but that's obviously not so easy with reading it from a file. Matt LaFary MobileRobots Inc Alberto Corrales Garcia wrote: > Hi, > > I'm trying to do my own video server, but it doesn't work. > > I have that code which opens a jpeg file and send it, but it sends well the > image parameters, but it sends wrong the image data. What am I doing wrong? > HELP PLEASE!!! > > My code: > > > *ArServerBase server; > > int main(int argc, char* argv[]) > { > > Aria::init(); > > ArGlobalFunctor2 sendVideoFunctionCB > (&sendVideoFunction); > > server.addData("sendVideo", "send video", &sendVideoFunctionCB, "", ""); > > if(!server.open(7070)) > { > printf("I can't open the server port"); > exit(1); > } > > server.run(); > > return 0; > } > > void sendVideoFunction(ArServerClient *client, ArNetPacket *packet) > { > > ArNetPacket imagePacket; > unsigned int width = 320; > unsigned int height = 240; > unsigned char jpeg[50000]; > int jpegSize = 0; > FILE *file; > imagePacket.uByte2ToBuf(width); > imagePacket.uByte2ToBuf(height); > > if((file=fopen("prueba.jpg","rb")) != NULL) > { > jpegSize = fread(jpeg,sizeof(unsigned char),50000,file); > imagePacket.setLength(jpegSize); > fclose(file); > printf("size %d",jpegSize); > imagePacket.dataToBuf((const unsigned char *)jpeg,jpegSize); > } > > imagePacket.finalizePacket(); > client->sendPacketUdp(&imagePacket); > }* > > 2008/6/27 Reed Hedges : > >> Hi Alberto, >> >> What SAV server does is compress the image to a JPEG and send that using >> ArNetworking. You can use libjpeg to do that on Linux (it's a standard >> library, >> you can install it from RedHat or use apt-get on Debian). >> >> To transfer the images using ArNetworking, on the server set up a packet >> handler >> to respond to "getPictureCam1" requests. In each reply packet put a pair of >> 16-bit integers containing image width and height in pixels using >> uByte2ToBuf(), >> then the JPEG data using dataToBuf(). The ArNetworking example >> getVideoExample.cpp requests images using getPictureCam1 and this packet >> format. >> MobileEyes does too, so you can use that as your client if you just want >> to >> see the image (you could also then use ArConfig to store any parameters and >> use >> ArServerHandlerConfig to let MobileEyes modify the values in ArConfig too.) >> >> >> >> If I have time later I'll write an example which does this. But if you look >> at >> the other ArNetworking example servers which respond to packets you should >> be >> able to do the same thing, but put the image width, height and JPEG data in >> it >> instead. >> >> >> >> Reed >> >> >> Alberto Corrales Garcia wrote: >>> Hello and thank you for your help, >>> I'm learning about Aria and ArNetworking but I'm a little confusing, >>> because some subjects are different to the traditional C++ programming. >>> >>> I would be very pleased if you could send me code for a server video or >>> tell me how I can respond to the video requests. >>> >>> Regards >>> >>> >>> 2008/6/17 Reed Hedges >> >: >>> >>> Alberto Corrales Garcia wrote: >>> > yes, I think if the source and the receiver would be synchronize >>> sendig >>> > frames to see the video correctly. I saw the class >>> > ArHybridForwarderVideo, which has some methods to manage that >>> subject, >>> > but I don't know how it work and I didn't see any example. Could >> you >>> > tell me about that class? >>> >>> Hi Alberto, >>> >>> The client will receive each packet from the server (source) in turn, >> at >>> whatever rate it requests. For example if you call: >>> >>> client.addHandler("getPictureCam1", &handlerFunctor); >>> client.request("getPictureCam1", 30); >>> >>> Then the client will send the getPictureCam1 request to the server >>> 30 times a >>> second. And the client's callback function will be called serially >>> for each >>> response packet is received (one thread). >>> >>> When the server receives a request it may then read an image from the >>> framegrabber, or it may have an image stored from an asynchronous >>> thread... I >>> don't remember how exactly it works right now but will look at some >>> of the code >>> to see if I can determine that. >>> >>> However, in either case the server won't get "backed up"-- there is >>> no queue of >>> images waiting to be sent, it's always the most recent one it has. >>> (How your >>> client program handles the images is up to you though.) It is >>> possible to >>> "miss" a potentially unique image, but you can minimize this by >>> using a request >>> rate faster than the framegrabber's own rate of generating images >>> (you will get >>> some duplicate images in that case). >>> >>> So the client is synchronized with the server by the >>> request-response mechanism, >>> but this is may be asynchronous in a sense from how the framegrabber >>> or other >>> source is providing images or compared to the ideal sequence of >>> unique images >>> you could be getting. >>> >>> ArHybridForwarderVideo is a class used to forward ArNetworking video >>> requests >>> and data obtained from another ArNetworkingServer. For example if >>> you start >>> ACTS or SAVServer, it provides video images on port 7070 using >>> ArNetworking. If >>> you then start ARNL's guiServer, it contains an >>> ArHybridForwarderVideo object, >>> which grabs the images from ACTS or SAVServer, and turns around and >>> provides >>> them on the same port as the rest of its services (robot info, path >>> planning, >>> map, config, etc.). Then you can connect with MobileEyes and get >>> all the >>> services, including video images, from the same server and port. >>> >>> Does this make sense? Let me know if there are any details you >>> need me to find >>> out. >>> >>> Reed >>> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From pierrel at fit.edu Wed Jul 23 10:44:40 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Wed, 23 Jul 2008 10:44:40 -0400 Subject: [Aria-users] Powerbot Arm Kinematics Message-ID: <488743D8.50602@fit.edu> Has anyone derived the fwd and inv. kinematics for the powerbot arm (the large arm made by Schunk with power cubes)? Thanks. - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080723/5c3d2a8d/attachment.html From albertocorralesgarcia at gmail.com Wed Jul 23 10:51:05 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 23 Jul 2008 16:51:05 +0200 Subject: [Aria-users] video server In-Reply-To: <48873F7C.5050506@mobilerobots.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <4803CDA4.1010101@mobilerobots.com> <1672c7d80806121156h69f4b29at760364f4846315d7@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> Message-ID: <1672c7d80807230751x2a1fd92apaec718fd0a4b86ef@mail.gmail.com> that's true, I tried without setLength, but it didn't work due to my jpeg file is longer 32000 bytes, it was the problem!! so Is it impossible to send jpeg longer than 32000 bytes? thank you very much! 2008/7/23 Matt LaFary : > The problem is the call to imagePacket.setLength.... you should never use > it like that, since that says how much information is already in the packet. > So right now the code is putting the jpeg information in the position after > where it should be. > > If you take that setLength call out, I think your code will work better... > until you have a jpeg larger than 32000 bytes. That's all that will fit > into an ArNetPacket. So after that you'll only get partial information. > What our stuff does is compress the jpeg image again until it'll fit in a > packet, but that's obviously not so easy with reading it from a file. > > Matt LaFary > MobileRobots Inc > > Alberto Corrales Garcia wrote: > >> Hi, >> >> I'm trying to do my own video server, but it doesn't work. >> >> I have that code which opens a jpeg file and send it, but it sends well >> the >> image parameters, but it sends wrong the image data. What am I doing >> wrong? >> HELP PLEASE!!! >> >> My code: >> >> >> *ArServerBase server; >> >> int main(int argc, char* argv[]) >> { >> >> Aria::init(); >> >> ArGlobalFunctor2 sendVideoFunctionCB >> (&sendVideoFunction); >> >> server.addData("sendVideo", "send video", &sendVideoFunctionCB, "", >> ""); >> >> if(!server.open(7070)) >> { >> printf("I can't open the server port"); >> exit(1); >> } >> >> server.run(); >> >> return 0; >> } >> >> void sendVideoFunction(ArServerClient *client, ArNetPacket *packet) >> { >> >> ArNetPacket imagePacket; >> unsigned int width = 320; >> unsigned int height = 240; >> unsigned char jpeg[50000]; >> int jpegSize = 0; >> FILE *file; >> imagePacket.uByte2ToBuf(width); >> imagePacket.uByte2ToBuf(height); >> >> if((file=fopen("prueba.jpg","rb")) != NULL) >> { >> jpegSize = fread(jpeg,sizeof(unsigned char),50000,file); >> imagePacket.setLength(jpegSize); >> fclose(file); >> printf("size %d",jpegSize); >> imagePacket.dataToBuf((const unsigned char *)jpeg,jpegSize); >> } >> >> imagePacket.finalizePacket(); >> client->sendPacketUdp(&imagePacket); >> }* >> >> 2008/6/27 Reed Hedges : >> >> Hi Alberto, >>> >>> What SAV server does is compress the image to a JPEG and send that using >>> ArNetworking. You can use libjpeg to do that on Linux (it's a standard >>> library, >>> you can install it from RedHat or use apt-get on Debian). >>> >>> To transfer the images using ArNetworking, on the server set up a packet >>> handler >>> to respond to "getPictureCam1" requests. In each reply packet put a pair >>> of >>> 16-bit integers containing image width and height in pixels using >>> uByte2ToBuf(), >>> then the JPEG data using dataToBuf(). The ArNetworking example >>> getVideoExample.cpp requests images using getPictureCam1 and this packet >>> format. >>> MobileEyes does too, so you can use that as your client if you just want >>> to >>> see the image (you could also then use ArConfig to store any parameters >>> and >>> use >>> ArServerHandlerConfig to let MobileEyes modify the values in ArConfig >>> too.) >>> >>> >>> >>> If I have time later I'll write an example which does this. But if you >>> look >>> at >>> the other ArNetworking example servers which respond to packets you >>> should >>> be >>> able to do the same thing, but put the image width, height and JPEG data >>> in >>> it >>> instead. >>> >>> >>> >>> Reed >>> >>> >>> Alberto Corrales Garcia wrote: >>> >>>> Hello and thank you for your help, >>>> I'm learning about Aria and ArNetworking but I'm a little confusing, >>>> because some subjects are different to the traditional C++ programming. >>>> >>>> I would be very pleased if you could send me code for a server video or >>>> tell me how I can respond to the video requests. >>>> >>>> Regards >>>> >>>> >>>> 2008/6/17 Reed Hedges >>> >: >>>> >>>> Alberto Corrales Garcia wrote: >>>> > yes, I think if the source and the receiver would be synchronize >>>> sendig >>>> > frames to see the video correctly. I saw the class >>>> > ArHybridForwarderVideo, which has some methods to manage that >>>> subject, >>>> > but I don't know how it work and I didn't see any example. Could >>>> >>> you >>> >>>> > tell me about that class? >>>> >>>> Hi Alberto, >>>> >>>> The client will receive each packet from the server (source) in turn, >>>> >>> at >>> >>>> whatever rate it requests. For example if you call: >>>> >>>> client.addHandler("getPictureCam1", &handlerFunctor); >>>> client.request("getPictureCam1", 30); >>>> >>>> Then the client will send the getPictureCam1 request to the server >>>> 30 times a >>>> second. And the client's callback function will be called serially >>>> for each >>>> response packet is received (one thread). >>>> >>>> When the server receives a request it may then read an image from the >>>> framegrabber, or it may have an image stored from an asynchronous >>>> thread... I >>>> don't remember how exactly it works right now but will look at some >>>> of the code >>>> to see if I can determine that. >>>> >>>> However, in either case the server won't get "backed up"-- there is >>>> no queue of >>>> images waiting to be sent, it's always the most recent one it has. >>>> (How your >>>> client program handles the images is up to you though.) It is >>>> possible to >>>> "miss" a potentially unique image, but you can minimize this by >>>> using a request >>>> rate faster than the framegrabber's own rate of generating images >>>> (you will get >>>> some duplicate images in that case). >>>> >>>> So the client is synchronized with the server by the >>>> request-response mechanism, >>>> but this is may be asynchronous in a sense from how the framegrabber >>>> or other >>>> source is providing images or compared to the ideal sequence of >>>> unique images >>>> you could be getting. >>>> >>>> ArHybridForwarderVideo is a class used to forward ArNetworking video >>>> requests >>>> and data obtained from another ArNetworkingServer. For example if >>>> you start >>>> ACTS or SAVServer, it provides video images on port 7070 using >>>> ArNetworking. If >>>> you then start ARNL's guiServer, it contains an >>>> ArHybridForwarderVideo object, >>>> which grabs the images from ACTS or SAVServer, and turns around and >>>> provides >>>> them on the same port as the rest of its services (robot info, path >>>> planning, >>>> map, config, etc.). Then you can connect with MobileEyes and get >>>> all the >>>> services, including video images, from the same server and port. >>>> >>>> Does this make sense? Let me know if there are any details you >>>> need me to find >>>> out. >>>> >>>> Reed >>>> >>>> _______________________________________________ >>> Aria-users mailing list >>> Aria-users at lists.mobilerobots.com >>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>> >>> To unsubscribe visit the above webpage or send an e-mail to: >>> >>> aria-users-leave at lists.mobilerobots.com >>> >>> >> >> >> >> ------------------------------------------------------------------------ >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080723/2c7c922b/attachment.html From bruno.lara at uaem.mx Wed Jul 23 11:59:09 2008 From: bruno.lara at uaem.mx (bruno lara) Date: Wed, 23 Jul 2008 10:59:09 -0500 Subject: [Aria-users] buttons In-Reply-To: <48811729.7060105@mobilerobots.com> References: <48754B99.2000400@uaem.mx> <4876CF62.4080605@mobilerobots.com> <48779D4D.4000502@uaem.mx> <487BB29E.7080308@mobilerobots.com> <4880BB7A.2010801@uaem.mx> <48811729.7060105@mobilerobots.com> Message-ID: <4887554D.6080406@uaem.mx> Reed, I attach the program..... thanks for your time bruno Reed Hedges wrote: > > Can you write the smallest program that shows the error and post it? > > I.e. a program that just has the #include statements such that the > error occurs, and a main() function so that it can be compiled. > > Reed > > -- +++++++++++++++++++++++++++++++++++++++++++++ Dr. Bruno Lara Guzman Profesor Investigador Facultad de Ciencias Universidad Aut?noma del Estado de Morelos Av. Universidad 1001. Col. Chamilpa Cuernavaca, Morelos. C. P. 62209-- M E X I C O http://www.fc.uaem.mx +++++++++++++++++++++++++++++++++++++++++++++ Tel (52) (777) 3-29-70 00 x 3280 Fax (52) (777) 3-29-70-40 +++++++++++++++++++++++++++++++++++++++++++++ +++++++++++++++++++++++++++++++++++++++++++++ -------------- next part -------------- A non-text attachment was scrubbed... Name: post.C Type: text/x-c++src Size: 1382 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080723/0727bd0c/attachment-0001.bin From albertocorralesgarcia at gmail.com Wed Jul 23 15:41:38 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 23 Jul 2008 21:41:38 +0200 Subject: [Aria-users] video server In-Reply-To: <488746A0.3080600@mobilerobots.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> <1672c7d80807230749u24e0b27bj5ff55bfed1da7bb3@mail.gmail.com> <488746A0.3080600@mobilerobots.com> Message-ID: <1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> I have seen, in that model client-server, the client imposes the rate of frames. But in my application I need that the server imposes the rate of frames because: My client call the server to init it, then the server initialize an algorithm which processes frames and it must send to the client every frame processed. So , the client always must be waiting and displaying every frame that the server send it. Can I do that with ArNetworking? 2008/7/23 Matt LaFary : > Correct, you can't send jpegs longer than 32000 bytes. If you are using > your own software (and not MobileEyes) for display then you could do > something with breaking the jpegs up. What we do is we compress it so that > it fits in the 32000 byte packet. > > > Matt LaFary > MobileRobots Inc > > Alberto Corrales Garcia wrote: > >> that's true, I tried without setLength, but it didn't work due to my jpeg >> file is longer 32000 bytes, it was the problem!! so Is it impossible to >> send >> jpeg longer than 32000 bytes? >> >> thank you very much! >> >> 2008/7/23 Matt LaFary : >> >> The problem is the call to imagePacket.setLength.... you should never use >>> it like that, since that says how much information is already in the >>> packet. >>> So right now the code is putting the jpeg information in the position >>> after >>> where it should be. >>> >>> If you take that setLength call out, I think your code will work >>> better... >>> until you have a jpeg larger than 32000 bytes. That's all that will fit >>> into an ArNetPacket. So after that you'll only get partial information. >>> What our stuff does is compress the jpeg image again until it'll fit in >>> a >>> packet, but that's obviously not so easy with reading it from a file. >>> >>> Matt LaFary >>> MobileRobots Inc >>> >>> Alberto Corrales Garcia wrote: >>> >>> Hi, >>>> >>>> I'm trying to do my own video server, but it doesn't work. >>>> >>>> I have that code which opens a jpeg file and send it, but it sends well >>>> the >>>> image parameters, but it sends wrong the image data. What am I doing >>>> wrong? >>>> HELP PLEASE!!! >>>> >>>> My code: >>>> >>>> >>>> *ArServerBase server; >>>> >>>> int main(int argc, char* argv[]) >>>> { >>>> >>>> Aria::init(); >>>> >>>> ArGlobalFunctor2 sendVideoFunctionCB >>>> (&sendVideoFunction); >>>> >>>> server.addData("sendVideo", "send video", &sendVideoFunctionCB, "", >>>> ""); >>>> >>>> if(!server.open(7070)) >>>> { >>>> printf("I can't open the server port"); >>>> exit(1); >>>> } >>>> >>>> server.run(); >>>> >>>> return 0; >>>> } >>>> >>>> void sendVideoFunction(ArServerClient *client, ArNetPacket *packet) >>>> { >>>> >>>> ArNetPacket imagePacket; >>>> unsigned int width = 320; >>>> unsigned int height = 240; >>>> unsigned char jpeg[50000]; >>>> int jpegSize = 0; >>>> FILE *file; >>>> imagePacket.uByte2ToBuf(width); >>>> imagePacket.uByte2ToBuf(height); >>>> >>>> if((file=fopen("prueba.jpg","rb")) != NULL) >>>> { >>>> jpegSize = fread(jpeg,sizeof(unsigned char),50000,file); >>>> imagePacket.setLength(jpegSize); >>>> fclose(file); >>>> printf("size %d",jpegSize); >>>> imagePacket.dataToBuf((const unsigned char *)jpeg,jpegSize); >>>> } >>>> >>>> imagePacket.finalizePacket(); >>>> client->sendPacketUdp(&imagePacket); >>>> }* >>>> >>>> 2008/6/27 Reed Hedges : >>>> >>>> Hi Alberto, >>>> >>>>> What SAV server does is compress the image to a JPEG and send that >>>>> using >>>>> ArNetworking. You can use libjpeg to do that on Linux (it's a standard >>>>> library, >>>>> you can install it from RedHat or use apt-get on Debian). >>>>> >>>>> To transfer the images using ArNetworking, on the server set up a >>>>> packet >>>>> handler >>>>> to respond to "getPictureCam1" requests. In each reply packet put a >>>>> pair >>>>> of >>>>> 16-bit integers containing image width and height in pixels using >>>>> uByte2ToBuf(), >>>>> then the JPEG data using dataToBuf(). The ArNetworking example >>>>> getVideoExample.cpp requests images using getPictureCam1 and this >>>>> packet >>>>> format. >>>>> MobileEyes does too, so you can use that as your client if you just >>>>> want >>>>> to >>>>> see the image (you could also then use ArConfig to store any parameters >>>>> and >>>>> use >>>>> ArServerHandlerConfig to let MobileEyes modify the values in ArConfig >>>>> too.) >>>>> >>>>> >>>>> >>>>> If I have time later I'll write an example which does this. But if you >>>>> look >>>>> at >>>>> the other ArNetworking example servers which respond to packets you >>>>> should >>>>> be >>>>> able to do the same thing, but put the image width, height and JPEG >>>>> data >>>>> in >>>>> it >>>>> instead. >>>>> >>>>> >>>>> >>>>> Reed >>>>> >>>>> >>>>> Alberto Corrales Garcia wrote: >>>>> >>>>> Hello and thank you for your help, >>>>>> I'm learning about Aria and ArNetworking but I'm a little confusing, >>>>>> because some subjects are different to the traditional C++ >>>>>> programming. >>>>>> >>>>>> I would be very pleased if you could send me code for a server video >>>>>> or >>>>>> tell me how I can respond to the video requests. >>>>>> >>>>>> Regards >>>>>> >>>>>> >>>>>> 2008/6/17 Reed Hedges >>>>> >: >>>>>> >>>>>> Alberto Corrales Garcia wrote: >>>>>> > yes, I think if the source and the receiver would be synchronize >>>>>> sendig >>>>>> > frames to see the video correctly. I saw the class >>>>>> > ArHybridForwarderVideo, which has some methods to manage that >>>>>> subject, >>>>>> > but I don't know how it work and I didn't see any example. Could >>>>>> >>>>>> you >>>>> >>>>> > tell me about that class? >>>>>> >>>>>> Hi Alberto, >>>>>> >>>>>> The client will receive each packet from the server (source) in >>>>>> turn, >>>>>> >>>>>> at >>>>> >>>>> whatever rate it requests. For example if you call: >>>>>> >>>>>> client.addHandler("getPictureCam1", &handlerFunctor); >>>>>> client.request("getPictureCam1", 30); >>>>>> >>>>>> Then the client will send the getPictureCam1 request to the server >>>>>> 30 times a >>>>>> second. And the client's callback function will be called serially >>>>>> for each >>>>>> response packet is received (one thread). >>>>>> >>>>>> When the server receives a request it may then read an image from >>>>>> the >>>>>> framegrabber, or it may have an image stored from an asynchronous >>>>>> thread... I >>>>>> don't remember how exactly it works right now but will look at some >>>>>> of the code >>>>>> to see if I can determine that. >>>>>> >>>>>> However, in either case the server won't get "backed up"-- there is >>>>>> no queue of >>>>>> images waiting to be sent, it's always the most recent one it has. >>>>>> (How your >>>>>> client program handles the images is up to you though.) It is >>>>>> possible to >>>>>> "miss" a potentially unique image, but you can minimize this by >>>>>> using a request >>>>>> rate faster than the framegrabber's own rate of generating images >>>>>> (you will get >>>>>> some duplicate images in that case). >>>>>> >>>>>> So the client is synchronized with the server by the >>>>>> request-response mechanism, >>>>>> but this is may be asynchronous in a sense from how the framegrabber >>>>>> or other >>>>>> source is providing images or compared to the ideal sequence of >>>>>> unique images >>>>>> you could be getting. >>>>>> >>>>>> ArHybridForwarderVideo is a class used to forward ArNetworking video >>>>>> requests >>>>>> and data obtained from another ArNetworkingServer. For example if >>>>>> you start >>>>>> ACTS or SAVServer, it provides video images on port 7070 using >>>>>> ArNetworking. If >>>>>> you then start ARNL's guiServer, it contains an >>>>>> ArHybridForwarderVideo object, >>>>>> which grabs the images from ACTS or SAVServer, and turns around and >>>>>> provides >>>>>> them on the same port as the rest of its services (robot info, path >>>>>> planning, >>>>>> map, config, etc.). Then you can connect with MobileEyes and get >>>>>> all the >>>>>> services, including video images, from the same server and port. >>>>>> >>>>>> Does this make sense? Let me know if there are any details you >>>>>> need me to find >>>>>> out. >>>>>> >>>>>> Reed >>>>>> >>>>>> _______________________________________________ >>>>>> >>>>> Aria-users mailing list >>>>> Aria-users at lists.mobilerobots.com >>>>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>>>> >>>>> To unsubscribe visit the above webpage or send an e-mail to: >>>>> >>>>> aria-users-leave at lists.mobilerobots.com >>>>> >>>>> >>>>> >>>> >>>> ------------------------------------------------------------------------ >>>> >>>> _______________________________________________ >>>> Aria-users mailing list >>>> Aria-users at lists.mobilerobots.com >>>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>>> >>>> To unsubscribe visit the above webpage or send an e-mail to: >>>> >>>> aria-users-leave at lists.mobilerobots.com >>>> >>>> >> >> -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080723/126d49ad/attachment.html From lafary at mobilerobots.com Fri Jul 25 10:46:57 2008 From: lafary at mobilerobots.com (Matt LaFary) Date: Fri, 25 Jul 2008 10:46:57 -0400 Subject: [Aria-users] video server In-Reply-To: <1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> <1672c7d80807230749u24e0b27bj5ff55bfed1da7bb3@mail.gmail.com> <488746A0.3080600@mobilerobots.com> <1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> Message-ID: <4889E761.4060809@mobilerobots.com> ArNetworking can do that just fine. You'd do that by having the client request the command with an interval of -1 then the server side broadcast the packets when they are ready (they only go to clients who have that packet requested (I think its to clients with that data requested at any interval)). It may or may not work with MobileEyes if the server does this, it can certain work with your own client program though. Note that the reason we do it how we do it is because it is VERY easy to oversaturate your wireless bandwidth if you're pushing video from the server. This can wind up with delayed video. Matt LaFary MobileRobots Inc Alberto Corrales Garcia wrote: > I have seen, in that model client-server, the client imposes the rate of > frames. But in my application I need that the server imposes the rate of > frames because: > > My client call the server to init it, then the server initialize an > algorithm which processes frames and it must send to the client every frame > processed. So , the client always must be waiting and displaying every frame > that the server send it. > > Can I do that with ArNetworking? > > 2008/7/23 Matt LaFary : > >> Correct, you can't send jpegs longer than 32000 bytes. If you are using >> your own software (and not MobileEyes) for display then you could do >> something with breaking the jpegs up. What we do is we compress it so that >> it fits in the 32000 byte packet. >> >> >> Matt LaFary >> MobileRobots Inc >> >> Alberto Corrales Garcia wrote: >> >>> that's true, I tried without setLength, but it didn't work due to my jpeg >>> file is longer 32000 bytes, it was the problem!! so Is it impossible to >>> send >>> jpeg longer than 32000 bytes? >>> >>> thank you very much! >>> >>> 2008/7/23 Matt LaFary : >>> >>> The problem is the call to imagePacket.setLength.... you should never use >>>> it like that, since that says how much information is already in the >>>> packet. >>>> So right now the code is putting the jpeg information in the position >>>> after >>>> where it should be. >>>> >>>> If you take that setLength call out, I think your code will work >>>> better... >>>> until you have a jpeg larger than 32000 bytes. That's all that will fit >>>> into an ArNetPacket. So after that you'll only get partial information. >>>> What our stuff does is compress the jpeg image again until it'll fit in >>>> a >>>> packet, but that's obviously not so easy with reading it from a file. >>>> >>>> Matt LaFary >>>> MobileRobots Inc >>>> >>>> Alberto Corrales Garcia wrote: >>>> >>>> Hi, >>>>> I'm trying to do my own video server, but it doesn't work. >>>>> >>>>> I have that code which opens a jpeg file and send it, but it sends well >>>>> the >>>>> image parameters, but it sends wrong the image data. What am I doing >>>>> wrong? >>>>> HELP PLEASE!!! >>>>> >>>>> My code: >>>>> >>>>> >>>>> *ArServerBase server; >>>>> >>>>> int main(int argc, char* argv[]) >>>>> { >>>>> >>>>> Aria::init(); >>>>> >>>>> ArGlobalFunctor2 sendVideoFunctionCB >>>>> (&sendVideoFunction); >>>>> >>>>> server.addData("sendVideo", "send video", &sendVideoFunctionCB, "", >>>>> ""); >>>>> >>>>> if(!server.open(7070)) >>>>> { >>>>> printf("I can't open the server port"); >>>>> exit(1); >>>>> } >>>>> >>>>> server.run(); >>>>> >>>>> return 0; >>>>> } >>>>> >>>>> void sendVideoFunction(ArServerClient *client, ArNetPacket *packet) >>>>> { >>>>> >>>>> ArNetPacket imagePacket; >>>>> unsigned int width = 320; >>>>> unsigned int height = 240; >>>>> unsigned char jpeg[50000]; >>>>> int jpegSize = 0; >>>>> FILE *file; >>>>> imagePacket.uByte2ToBuf(width); >>>>> imagePacket.uByte2ToBuf(height); >>>>> >>>>> if((file=fopen("prueba.jpg","rb")) != NULL) >>>>> { >>>>> jpegSize = fread(jpeg,sizeof(unsigned char),50000,file); >>>>> imagePacket.setLength(jpegSize); >>>>> fclose(file); >>>>> printf("size %d",jpegSize); >>>>> imagePacket.dataToBuf((const unsigned char *)jpeg,jpegSize); >>>>> } >>>>> >>>>> imagePacket.finalizePacket(); >>>>> client->sendPacketUdp(&imagePacket); >>>>> }* >>>>> >>>>> 2008/6/27 Reed Hedges : >>>>> >>>>> Hi Alberto, >>>>> >>>>>> What SAV server does is compress the image to a JPEG and send that >>>>>> using >>>>>> ArNetworking. You can use libjpeg to do that on Linux (it's a standard >>>>>> library, >>>>>> you can install it from RedHat or use apt-get on Debian). >>>>>> >>>>>> To transfer the images using ArNetworking, on the server set up a >>>>>> packet >>>>>> handler >>>>>> to respond to "getPictureCam1" requests. In each reply packet put a >>>>>> pair >>>>>> of >>>>>> 16-bit integers containing image width and height in pixels using >>>>>> uByte2ToBuf(), >>>>>> then the JPEG data using dataToBuf(). The ArNetworking example >>>>>> getVideoExample.cpp requests images using getPictureCam1 and this >>>>>> packet >>>>>> format. >>>>>> MobileEyes does too, so you can use that as your client if you just >>>>>> want >>>>>> to >>>>>> see the image (you could also then use ArConfig to store any parameters >>>>>> and >>>>>> use >>>>>> ArServerHandlerConfig to let MobileEyes modify the values in ArConfig >>>>>> too.) >>>>>> >>>>>> >>>>>> >>>>>> If I have time later I'll write an example which does this. But if you >>>>>> look >>>>>> at >>>>>> the other ArNetworking example servers which respond to packets you >>>>>> should >>>>>> be >>>>>> able to do the same thing, but put the image width, height and JPEG >>>>>> data >>>>>> in >>>>>> it >>>>>> instead. >>>>>> >>>>>> >>>>>> >>>>>> Reed >>>>>> >>>>>> >>>>>> Alberto Corrales Garcia wrote: >>>>>> >>>>>> Hello and thank you for your help, >>>>>>> I'm learning about Aria and ArNetworking but I'm a little confusing, >>>>>>> because some subjects are different to the traditional C++ >>>>>>> programming. >>>>>>> >>>>>>> I would be very pleased if you could send me code for a server video >>>>>>> or >>>>>>> tell me how I can respond to the video requests. >>>>>>> >>>>>>> Regards >>>>>>> >>>>>>> >>>>>>> 2008/6/17 Reed Hedges >>>>>> >: >>>>>>> >>>>>>> Alberto Corrales Garcia wrote: >>>>>>> > yes, I think if the source and the receiver would be synchronize >>>>>>> sendig >>>>>>> > frames to see the video correctly. I saw the class >>>>>>> > ArHybridForwarderVideo, which has some methods to manage that >>>>>>> subject, >>>>>>> > but I don't know how it work and I didn't see any example. Could >>>>>>> >>>>>>> you >>>>>> > tell me about that class? >>>>>>> Hi Alberto, >>>>>>> >>>>>>> The client will receive each packet from the server (source) in >>>>>>> turn, >>>>>>> >>>>>>> at >>>>>> whatever rate it requests. For example if you call: >>>>>>> client.addHandler("getPictureCam1", &handlerFunctor); >>>>>>> client.request("getPictureCam1", 30); >>>>>>> >>>>>>> Then the client will send the getPictureCam1 request to the server >>>>>>> 30 times a >>>>>>> second. And the client's callback function will be called serially >>>>>>> for each >>>>>>> response packet is received (one thread). >>>>>>> >>>>>>> When the server receives a request it may then read an image from >>>>>>> the >>>>>>> framegrabber, or it may have an image stored from an asynchronous >>>>>>> thread... I >>>>>>> don't remember how exactly it works right now but will look at some >>>>>>> of the code >>>>>>> to see if I can determine that. >>>>>>> >>>>>>> However, in either case the server won't get "backed up"-- there is >>>>>>> no queue of >>>>>>> images waiting to be sent, it's always the most recent one it has. >>>>>>> (How your >>>>>>> client program handles the images is up to you though.) It is >>>>>>> possible to >>>>>>> "miss" a potentially unique image, but you can minimize this by >>>>>>> using a request >>>>>>> rate faster than the framegrabber's own rate of generating images >>>>>>> (you will get >>>>>>> some duplicate images in that case). >>>>>>> >>>>>>> So the client is synchronized with the server by the >>>>>>> request-response mechanism, >>>>>>> but this is may be asynchronous in a sense from how the framegrabber >>>>>>> or other >>>>>>> source is providing images or compared to the ideal sequence of >>>>>>> unique images >>>>>>> you could be getting. >>>>>>> >>>>>>> ArHybridForwarderVideo is a class used to forward ArNetworking video >>>>>>> requests >>>>>>> and data obtained from another ArNetworkingServer. For example if >>>>>>> you start >>>>>>> ACTS or SAVServer, it provides video images on port 7070 using >>>>>>> ArNetworking. If >>>>>>> you then start ARNL's guiServer, it contains an >>>>>>> ArHybridForwarderVideo object, >>>>>>> which grabs the images from ACTS or SAVServer, and turns around and >>>>>>> provides >>>>>>> them on the same port as the rest of its services (robot info, path >>>>>>> planning, >>>>>>> map, config, etc.). Then you can connect with MobileEyes and get >>>>>>> all the >>>>>>> services, including video images, from the same server and port. >>>>>>> >>>>>>> Does this make sense? Let me know if there are any details you >>>>>>> need me to find >>>>>>> out. >>>>>>> >>>>>>> Reed >>>>>>> >>>>>>> _______________________________________________ >>>>>>> >>>>>> Aria-users mailing list >>>>>> Aria-users at lists.mobilerobots.com >>>>>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>>>>> >>>>>> To unsubscribe visit the above webpage or send an e-mail to: >>>>>> >>>>>> aria-users-leave at lists.mobilerobots.com >>>>>> >>>>>> >>>>>> >>>>> ------------------------------------------------------------------------ >>>>> >>>>> _______________________________________________ >>>>> Aria-users mailing list >>>>> Aria-users at lists.mobilerobots.com >>>>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>>>> >>>>> To unsubscribe visit the above webpage or send an e-mail to: >>>>> >>>>> aria-users-leave at lists.mobilerobots.com >>>>> >>>>> >>> > > From albertocorralesgarcia at gmail.com Tue Jul 29 20:50:59 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 30 Jul 2008 02:50:59 +0200 Subject: [Aria-users] MFC and Arfunctors Message-ID: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> Hi, I'm doing an aplication client with MFC and server with win32 based on getImageExample. Server works perfectly, but in the client side have the same problem that is described below (error C2276: '&' : illegal operation on bound member function expression), but I read this post and I tried to do the same but I obtain the error: *error C2064*: term does not evaluate to a function taking 2 *arguments* in the next instruction "jpegHandlerCB(this, &CDialog::jpegHandler) ". How can I resolve this error?? Regards, Alberto. *Hi Reed, My jpegHandler is a method in the dialog class and I had solved this problem by adding the adding the following code. In the dialog header file -> ArFunctor1C jpegHandlerCB; In the dialog cpp file (constructor) -> jpegHandlerCB(this, &CDialog::jpegHandler) Thanks! Regards, Tairo >From: Reed Hedges >To: XXXXXXXX >CC: XXXXXXXX >Subject: Re: [Aria-users] Problem with getting Jpeg from PowerBot server >Date: Wed, 21 Dec 2005 11:01:54 -0500 > > > >Tairo, > >Is jpegHandler() a method in a class, or is it a simple global function? > >ArGlobalFunctor1<> is used for global functions. There are other Functor >templates to use for class methods, for example, ArFunctor1C; find >ArFunctor in the API reference documentation class hierarchy and you should >see it's many subclasses. > >Reed > > > >Hentairo Lim wrote: >> I am trying to extract jpeg file from the PowerBot server, using ACTS >>and serverdemo.cpp. While trying to incorporate getVideoExample.cpp into >>clientdemo.cpp with my MFC Dialog-based client application, i obtained the >>following compile error from this line of code: >> >> >>-> ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); >> >>Error -> error C2276: '&' : illegal operation on bound member function >>expression >> >>Currently, I am able to connect to ACTS running on the PowerBot server >>succesfully, however without adding this handler, I am unable to extract >>any jpeg image from the ArNetPacket in my client application. >> >>How am I suppose to edit this line of code such that I can add the handler >>successfully? Or is there another way to obtain the jpeg images through a >>MFC Dialog-based client application? >> >>Looking forward to any advise. Thanks! >> >>Regards, >> >>Tairo >> >* -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/a211f70e/attachment.html From Jason.Chen at anu.edu.au Tue Jul 29 22:21:04 2008 From: Jason.Chen at anu.edu.au (Jason Chen) Date: Wed, 30 Jul 2008 12:21:04 +1000 Subject: [Aria-users] Compass Calibration In-Reply-To: <556253.6085.qm@web54305.mail.re2.yahoo.com> References: <556253.6085.qm@web54305.mail.re2.yahoo.com> Message-ID: <200807301221.04324.Jason.Chen@anu.edu.au> Hi Faruk, have you tried to hook the compass up to a pc with a serial port and then reset the calibration. That was how I solved the problem. I also seperated the compass from the robot by putting it on a wooden pedestal. The calibration is meant to allow you to have it close to sources of magnetic field and for it to still return accurate readings. I never got it to work. Every time I calibrated it, it went back to behaving how you describe. In any case, when I conducted experiments with the robot roaming about an office environment, stray magnetic fields (I presume from electical wiring in the walls and floors) caused significant variations from true north on the compass reading. But this is a well known robotics problem :( for which I do not know of a solution, but maybe this affects what you decide to do J On Wednesday 30 July 2008 10:42, you wrote: > Hello Jason, > > I read your discussion at mobile robot forum about"TCM2 configuration and > problems". We have the same problem. Even though we are able to read > compass data but as you mentioned at the forum it is not accurate. Even if > I return the robot 360 degree compass value only goes from around -20 to > -45 and so. > > We use the Pioneer-3DX as well. I guess compass component is inside the > robot and is been effecting by the magnetic fields of motors but the > manufacturing company is supposed to consider that problem isn't it. > > If you have already solved that problem could you please let me know about > the solution otherwise we are planning to buy a compass. > > > Thanks in advance > Faruk > Tenn. State Univer. From Jason.Chen at anu.edu.au Tue Jul 29 22:28:43 2008 From: Jason.Chen at anu.edu.au (Jason Chen) Date: Wed, 30 Jul 2008 12:28:43 +1000 Subject: [Aria-users] pc104 spacers Message-ID: <200807301228.43740.Jason.Chen@anu.edu.au> Hi, has anyone outside the US (maybe in Australia :)) tried to add a new board to the PC104 stack in the embedded PC in the Pioneer DX. The spacers that come with the robot seem to have an imperial thread (1/8 inch fine?) but the supplier of the new board has provided metric (M3) thread. They also tried to tell me that metric is the worldwide standard. I presume it is not in the US, although it definitely is in Oz since it is impossible to source anything else. Jason From wjxnet_126 at 126.com Tue Jul 29 23:04:57 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Wed, 30 Jul 2008 11:04:57 +0800 (CST) Subject: [Aria-users] Can a robot act as a server and a client at the same time? Message-ID: <12097518.589461217387097353.JavaMail.coremail@bj126app31.126.com> hello, everyone >From ArNetworking, a robot can act as a network server, while another acts as a client. My question is how can a robot act as a server and a client at the same time, while other robots act as its client or server. Thanks for any advice! Jianxin Wu -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/088136de/attachment.html From albertocorralesgarcia at gmail.com Wed Jul 30 04:58:11 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 30 Jul 2008 10:58:11 +0200 Subject: [Aria-users] Can a robot act as a server and a client at the same time? In-Reply-To: <12097518.589461217387097353.JavaMail.coremail@bj126app31.126.com> References: <12097518.589461217387097353.JavaMail.coremail@bj126app31.126.com> Message-ID: <1672c7d80807300158g4530145ckd37e235683000936@mail.gmail.com> Hi Jianxin, client and server can run at the same time (on the same robot) because ArClientBase and ArServerBase can run on thread differents with runAsync(). regards! 2008/7/30 wjxnet_126 > hello, everyone > > From ArNetworking, a robot can act as a network server, while another acts > as a client. My question is how can a robot act as a server and a client at > the same time, while other robots act as its client or server. Thanks for > any advice! > > > Jianxin Wu > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/7d6fe8d4/attachment.html From orkun_alp at hotmail.com Wed Jul 30 06:05:25 2008 From: orkun_alp at hotmail.com (Orkun ALP) Date: Wed, 30 Jul 2008 13:05:25 +0300 Subject: [Aria-users] sonar configuration for pioneer 3dx In-Reply-To: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> <1672c7d80807230749u24e0b27bj5ff55bfed1da7bb3@mail.gmail.com> <488746A0.3080600@mobilerobots.com><1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> <4889E761.4060809@mobilerobots.com> References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> <1672c7d80807230749u24e0b27bj5ff55bfed1da7bb3@mail.gmail.com> <488746A0.3080600@mobilerobots.com><1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> <4889E761.4060809@mobilerobots.com> Message-ID: Hi everbody, In my project, I use the sonar sensors mounted to the vehicle Pioneer 3DX . Is there anyone who knows the sensor configuration parameters to the center point of the robot or how can I learn the parameters exactly ?? I will use 16 sensors. And as far as i know the eight sonars (front side) are like that but the others (that of back side) are unknown. Thanks a lot... x y angle SNRXYTh = [ 69 136 90 1st 114 119 50 2nd 148 78 30 . 166 27 10 . 166 -27 -10 . 148 -78 -30 114 -119 -50 69 -136 -90 ? ? ? . . . . . . . . . ] 16th From albertocorralesgarcia at gmail.com Wed Jul 30 06:40:09 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 30 Jul 2008 12:40:09 +0200 Subject: [Aria-users] MFC and Arfunctors In-Reply-To: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> References: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> Message-ID: <1672c7d80807300340o481870a2u5452e0764dce7999@mail.gmail.com> I've tried all possibilities but it doesn't work. I have create a project which client say hello to server and server say hello to client. The communication client->server is OK, but the response server->client is wrong. I think the problem es the functor. Attach the project to ilustrate the problem in the next link (due to 1,8 Mb is too big for the mailing list): http://rapidshare.com/files/133542552/test.rar.html Help please, this step es very important for me. 2008/7/30 Alberto Corrales Garcia > Hi, > > I'm doing an aplication client with MFC and server with win32 based on > getImageExample. Server works perfectly, but in the client side have the > same problem that is described below (error C2276: '&' : illegal operation > on bound member function expression), but I read this post and I tried to do > the same but I obtain the error: *error C2064*: term does not evaluate to > a function taking 2 *arguments* in the next instruction > "jpegHandlerCB(this, &CDialog::jpegHandler) ". > > How can I resolve this error?? > > Regards, > Alberto. > > *Hi Reed, > > My jpegHandler is a method in the dialog class and I had solved this problem > by adding the adding the following code. > > In the dialog header file > -> ArFunctor1C jpegHandlerCB; > > In the dialog cpp file (constructor) > -> jpegHandlerCB(this, &CDialog::jpegHandler) > > Thanks! > > Regards, > > Tairo > > > >From: Reed Hedges > >To: XXXXXXXX > >CC: XXXXXXXX > >Subject: Re: [Aria-users] Problem with getting Jpeg from PowerBot server > >Date: Wed, 21 Dec 2005 11:01:54 -0500 > > > > > > > > >Tairo, > > > >Is jpegHandler() a method in a class, or is it a simple global function? > > > >ArGlobalFunctor1<> is used for global functions. There are other Functor > > >templates to use for class methods, for example, ArFunctor1C; find > >ArFunctor in the API reference documentation class hierarchy and you should > >see it's many subclasses. > > > >Reed > > > > > > > > >Hentairo Lim wrote: > >> I am trying to extract jpeg file from the PowerBot server, using ACTS > >>and serverdemo.cpp. While trying to incorporate getVideoExample.cpp into > >>clientdemo.cpp with my MFC Dialog-based client application, i obtained the > > >>following compile error from this line of code: > >> > >> > >>-> ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); > >> > >>Error -> error C2276: '&' : illegal operation on bound member function > > >>expression > >> > >>Currently, I am able to connect to ACTS running on the PowerBot server > >>succesfully, however without adding this handler, I am unable to extract > >>any jpeg image from the ArNetPacket in my client application. > > >> > >>How am I suppose to edit this line of code such that I can add the handler > >>successfully? Or is there another way to obtain the jpeg images through a > >>MFC Dialog-based client application? > > >> > >>Looking forward to any advise. Thanks! > >> > >>Regards, > >> > >>Tairo > >> > >* > > > > -- > > -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= > Alberto Corrales Garc?a > Coordinador DotNetClub Albacete > blog: http://labloguera.net/blogs/alberto/ > web: http://albertocorralesgarcia.googlepages.com > PFC: http://pfc-albertocorralesgarcia.blogspot.com/ > -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/c261fd2f/attachment.html From albertocorralesgarcia at gmail.com Wed Jul 30 12:45:53 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 30 Jul 2008 18:45:53 +0200 Subject: [Aria-users] MFC and Arfunctors In-Reply-To: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> References: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> Message-ID: <1672c7d80807300945i40bb9ee3mf347fc1583949b29@mail.gmail.com> I've seen my error, I was putting the jpegHandlerCB(this, &CDialog::jpegHandler) in a bad place (beetwen keys, not before the first key of the constructor). The program now is working corretly. So, thread closed ;) regards! 2008/7/30 Alberto Corrales Garcia > Hi, > > I'm doing an aplication client with MFC and server with win32 based on > getImageExample. Server works perfectly, but in the client side have the > same problem that is described below (error C2276: '&' : illegal operation > on bound member function expression), but I read this post and I tried to do > the same but I obtain the error: *error C2064*: term does not evaluate to > a function taking 2 *arguments* in the next instruction > "jpegHandlerCB(this, &CDialog::jpegHandler) ". > > How can I resolve this error?? > > Regards, > Alberto. > > *Hi Reed, > > My jpegHandler is a method in the dialog class and I had solved this problem > by adding the adding the following code. > > In the dialog header file > -> ArFunctor1C jpegHandlerCB; > > In the dialog cpp file (constructor) > -> jpegHandlerCB(this, &CDialog::jpegHandler) > > Thanks! > > Regards, > > Tairo > > > >From: Reed Hedges > >To: XXXXXXXX > >CC: XXXXXXXX > >Subject: Re: [Aria-users] Problem with getting Jpeg from PowerBot server > >Date: Wed, 21 Dec 2005 11:01:54 -0500 > > > > > > > > >Tairo, > > > >Is jpegHandler() a method in a class, or is it a simple global function? > > > >ArGlobalFunctor1<> is used for global functions. There are other Functor > > >templates to use for class methods, for example, ArFunctor1C; find > >ArFunctor in the API reference documentation class hierarchy and you should > >see it's many subclasses. > > > >Reed > > > > > > > > >Hentairo Lim wrote: > >> I am trying to extract jpeg file from the PowerBot server, using ACTS > >>and serverdemo.cpp. While trying to incorporate getVideoExample.cpp into > >>clientdemo.cpp with my MFC Dialog-based client application, i obtained the > > >>following compile error from this line of code: > >> > >> > >>-> ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); > >> > >>Error -> error C2276: '&' : illegal operation on bound member function > > >>expression > >> > >>Currently, I am able to connect to ACTS running on the PowerBot server > >>succesfully, however without adding this handler, I am unable to extract > >>any jpeg image from the ArNetPacket in my client application. > > >> > >>How am I suppose to edit this line of code such that I can add the handler > >>successfully? Or is there another way to obtain the jpeg images through a > >>MFC Dialog-based client application? > > >> > >>Looking forward to any advise. Thanks! > >> > >>Regards, > >> > >>Tairo > >> > >* > > > > -- > > -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= > Alberto Corrales Garc?a > Coordinador DotNetClub Albacete > blog: http://labloguera.net/blogs/alberto/ > web: http://albertocorralesgarcia.googlepages.com > PFC: http://pfc-albertocorralesgarcia.blogspot.com/ > -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/a32a9bf9/attachment.html From reed at mobilerobots.com Wed Jul 30 12:47:13 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 30 Jul 2008 12:47:13 -0400 Subject: [Aria-users] sonar configuration for pioneer 3dx In-Reply-To: References: <1672c7d80804101152k3856e1e4u5ae50252291a252d@mail.gmail.com> <48528E1D.7050902@mobilerobots.com> <1672c7d80806170140p1ec7ec52n86e95521d185363d@mail.gmail.com> <485824E8.6050004@mobilerobots.com> <1672c7d80806191000o71d54dsa881eaa8a6af3772@mail.gmail.com> <486505FD.7080403@mobilerobots.com> <1672c7d80807230422p6a1336f6he14848b21bdd57ad@mail.gmail.com> <48873F7C.5050506@mobilerobots.com> <1672c7d80807230749u24e0b27bj5ff55bfed1da7bb3@mail.gmail.com> <488746A0.3080600@mobilerobots.com><1672c7d80807231241j747fa2bdi8fc7b2c642877ba8@mail.gmail.com> <4889E761.4060809@mobilerobots.com> Message-ID: <48909B11.6080708@mobilerobots.com> Orkun ALP wrote: > Is there anyone who knows the sensor configuration parameters to the center > point of the robot or how can I learn the parameters exactly ?? Hello, this is from the robot parameter file, p3dx.p (p3dx-sh.p is the same in this respect as well): # x y t 0 69 136 90 1 114 119 50 2 148 78 30 3 166 27 10 4 166 -27 -10 5 148 -78 -30 6 114 -119 -50 7 69 -136 -90 8 -157 -136 -90 9 -203 -119 -130 10 -237 -78 -150 11 -255 -27 -170 12 -255 27 170 13 -237 78 150 14 -203 119 130 15 -157 136 90 All the robot parameter files include this info, as well as number of sonar discs. When ARIA reads in the parameter file, it stores these positions along with the most recent range reading in ArSensorReading objects you can get with ArRobot::getSonarReading(int n). The central point is the center of rotation between the two wheels. Does this help? Reed From albertocorralesgarcia at gmail.com Wed Jul 30 17:31:28 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Wed, 30 Jul 2008 23:31:28 +0200 Subject: [Aria-users] MFC and Arfunctors In-Reply-To: <9FEB75DF-DE0E-4B7B-A3F4-6029D6221175@gmail.com> References: <1672c7d80807291750r607d6ec4r115269833fc6a0d6@mail.gmail.com> <1672c7d80807300945i40bb9ee3mf347fc1583949b29@mail.gmail.com> <0B776BC2-0BF6-422B-BBCA-FF5D106E7D5B@gmail.com> <1672c7d80807301342q8137f36mb742bbfd75401953@mail.gmail.com> <9FEB75DF-DE0E-4B7B-A3F4-6029D6221175@gmail.com> Message-ID: <1672c7d80807301431w793da05aj811ca4704a7896d8@mail.gmail.com> I'm reducing jpeg size decreasing the jpeg quality factor, and the image quality is acceptable with resolution 640x480, but I have to test when I finish my client. Here you can download the correct version of the last program http://rapidshare.com/files/133676380/test_correct_version_.rar.html regards, Alberto. 2008/7/30 Ignazio Aleo > Ok, i was suspecting something like that...thank you for explainations (I > also looked at your code...).I read about your problem with jpeg size and > packets...did you solve the problem efficently? (e.g. to send higher > resolution images...) > Thanks again, > Ignazio. > > > Il giorno 30/lug/08, alle ore 22:42, Alberto Corrales Garcia ha scritto: > > hi ignazio, > > I suppose you are executing getVideoExample.cpp with ACTS or SavServer. In > this case, it only works with "sendVideo", because the server publishes > "sendVideo" datas. Then, if client request "getPictureCam1data" it doesn't > find datas. > > To publish data server uses > > *bool addData (const char *name, const char *description, ArFunctor2< > ArServerClient *, ArNetPacket * > *functor, const char > *argumentDescription, const char *returnDescription, const char > *commandGroup=NULL, const char *dataFlags=NULL)* > > where name="sendVideo". > > regards, > > Alberto. > > > > 2008/7/30 Ignazio Aleo > >> Hello, >> can you explain me better...? I was trying to compile the >> getVideoExample.cpp (without changes) but the client is telling me >> "there is no getPictureCam1data to handle... " but if i change the handler >> name with "sendVideo" it works so maybe I can't understand something. >> Thanks, >> Ignazio. >> >> >> Il giorno 30/lug/08, alle ore 18:45, Alberto Corrales Garcia ha scritto: >> >> I've seen my error, I was putting the jpegHandlerCB(this, >> &CDialog::jpegHandler) in a bad place (beetwen keys, not before the first >> key of the constructor). >> >> The program now is working corretly. >> >> So, thread closed ;) >> >> regards! >> >> >> 2008/7/30 Alberto Corrales Garcia >> >>> Hi, >>> >>> I'm doing an aplication client with MFC and server with win32 based on >>> getImageExample. Server works perfectly, but in the client side have the >>> same problem that is described below (error C2276: '&' : illegal operation >>> on bound member function expression), but I read this post and I tried to do >>> the same but I obtain the error: *error C2064*: term does not evaluate >>> to a function taking 2 *arguments* in the next instruction >>> "jpegHandlerCB(this, &CDialog::jpegHandler) ". >>> >>> How can I resolve this error?? >>> >>> Regards, >>> Alberto. >>> >>> *Hi Reed, >>> >>> My jpegHandler is a method in the dialog class and I had solved this problem >>> by adding the adding the following code. >>> >>> >>> >>> In the dialog header file >>> -> ArFunctor1C jpegHandlerCB; >>> >>> In the dialog cpp file (constructor) >>> -> jpegHandlerCB(this, &CDialog::jpegHandler) >>> >>> Thanks! >>> >>> Regards, >>> >>> >>> >>> Tairo >>> >>> >>> >From: Reed Hedges >>> >To: XXXXXXXX >>> >CC: XXXXXXXX >>> >Subject: Re: [Aria-users] Problem with getting Jpeg from PowerBot server >>> >Date: Wed, 21 Dec 2005 11:01:54 -0500 >>> >>> >>> >>> > >>> > >>> > >>> >Tairo, >>> > >>> >Is jpegHandler() a method in a class, or is it a simple global function? >>> > >>> >ArGlobalFunctor1<> is used for global functions. There are other Functor >>> >>> >>> >>> >templates to use for class methods, for example, ArFunctor1C; find >>> >ArFunctor in the API reference documentation class hierarchy and you should >>> >see it's many subclasses. >>> > >>> >Reed >>> > >>> >>> >>> >>> > >>> > >>> >Hentairo Lim wrote: >>> >> I am trying to extract jpeg file from the PowerBot server, using ACTS >>> >>and serverdemo.cpp. While trying to incorporate getVideoExample.cpp into >>> >>clientdemo.cpp with my MFC Dialog-based client application, i obtained the >>> >>> >>> >>> >>following compile error from this line of code: >>> >> >>> >> >>> >>-> ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); >>> >> >>> >>Error -> error C2276: '&' : illegal operation on bound member function >>> >>> >>> >>> >>expression >>> >> >>> >>Currently, I am able to connect to ACTS running on the PowerBot server >>> >>succesfully, however without adding this handler, I am unable to extract >>> >>any jpeg image from the ArNetPacket in my client application. >>> >>> >>> >>> >> >>> >>How am I suppose to edit this line of code such that I can add the handler >>> >>successfully? Or is there another way to obtain the jpeg images through a >>> >>MFC Dialog-based client application? >>> >>> >>> >>> >> >>> >>Looking forward to any advise. Thanks! >>> >> >>> >>Regards, >>> >> >>> >>Tairo >>> >> >>> >* >>> >>> >>> >>> -- >>> >>> -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= >>> Alberto Corrales Garc?a >>> Coordinador DotNetClub Albacete >>> blog: http://labloguera.net/blogs/alberto/ >>> web: http://albertocorralesgarcia.googlepages.com >>> PFC: http://pfc-albertocorralesgarcia.blogspot.com/ >>> -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= >>> >> >> >> >> -- >> >> -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= >> Alberto Corrales Garc?a >> Coordinador DotNetClub Albacete >> blog: http://labloguera.net/blogs/alberto/ >> web: http://albertocorralesgarcia.googlepages.com >> PFC: http://pfc-albertocorralesgarcia.blogspot.com/ >> -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> >> > > > -- > > -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= > Alberto Corrales Garc?a > Coordinador DotNetClub Albacete > blog: http://labloguera.net/blogs/alberto/ > web: http://albertocorralesgarcia.googlepages.com > PFC: http://pfc-albertocorralesgarcia.blogspot.com/ > -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= > > > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080730/0d9dc5f0/attachment-0001.html From jyotikab83 at gmail.com Thu Jul 31 04:21:39 2008 From: jyotikab83 at gmail.com (Jyotika Bahuguna) Date: Thu, 31 Jul 2008 13:51:39 +0530 Subject: [Aria-users] Use IR sensors in simulation Message-ID: Hi, I am trying to use IR sensors in simulation. ( With MobileSim). This is how my code looks like. ArIRs irs; irs.setMaxRange(2000); // 2m irs.setRobot(this); irs.processReadings(); // Maybe this is called anyways every 100 millsecs, hence unneccessary. int target_rotation=360; int rotation_angle = 10; while(!(map1.rotation>target_rotation)) { readings = irs.getCurrentBuffer(); } My problem is that "readings" is null vector. No readings get stored in the buffer. I looked into the code for processReadings, and there is a function getDigIn( ) , which should return a true to add Readings to the buffer. Since i dont have a real hardware connected, is there any flag ( eg. ArSick ::configure(useSim=true) ), to be set to indicate that I am using a simulator ? Thanks in advance, Jyotika -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080731/da86513b/attachment.html From reed at mobilerobots.com Thu Jul 31 13:29:16 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 31 Jul 2008 13:29:16 -0400 Subject: [Aria-users] Use IR sensors in simulation In-Reply-To: References: Message-ID: <4891F66C.6060603@mobilerobots.com> Hi Jyotika, Unfortunately MobileSim does not yet simulate the IR sensors. It only does sonars and SICK laser at this point. Bump switches and IR triggers are planned for the future, but I don't know when that might be. The best solution I can think of is to check the two nearest sonar readings when using MobileSim (it's a 2D environment anyway). Reed Jyotika Bahuguna wrote: > Hi, > I am trying to use IR sensors in simulation. ( With MobileSim). > This is how my code looks like. > > ArIRs irs; > irs.setMaxRange(2000); // 2m > irs.setRobot(this); > irs.processReadings(); // Maybe this is called anyways every 100 > millsecs, hence unneccessary. > > int target_rotation=360; > int rotation_angle = 10; > while(!(map1.rotation>target_rotation)) > { > readings = irs.getCurrentBuffer(); > } > > My problem is that "readings" is null vector. No readings get stored in the > buffer. > I looked into the code for processReadings, and there is a function > getDigIn( ) , which should return a true to add Readings to the buffer. > Since i dont have a real hardware connected, is there any flag ( eg. ArSick > ::configure(useSim=true) ), to be set to indicate that I am using a > simulator ? > > > Thanks in advance, > Jyotika > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From jyotikab83 at gmail.com Thu Jul 31 13:38:43 2008 From: jyotikab83 at gmail.com (Jyotika Bahuguna) Date: Thu, 31 Jul 2008 23:08:43 +0530 Subject: [Aria-users] Use IR sensors in simulation In-Reply-To: <4891F66C.6060603@mobilerobots.com> References: <4891F66C.6060603@mobilerobots.com> Message-ID: Hi, Thanks for the prompt reply. On 7/31/08, Reed Hedges wrote: > > > Hi Jyotika, > > Unfortunately MobileSim does not yet simulate the IR sensors. > > It only does sonars and SICK laser at this point. Bump switches and IR > triggers are planned for the future, but I don't know when that might be. > > The best solution I can think of is to check the two nearest sonar > readings when using MobileSim (it's a 2D environment anyway). > > Reed > > > > > Jyotika Bahuguna wrote: > > Hi, > > I am trying to use IR sensors in simulation. ( With MobileSim). > > This is how my code looks like. > > > > ArIRs irs; > > irs.setMaxRange(2000); // 2m > > irs.setRobot(this); > > irs.processReadings(); // Maybe this is called anyways every 100 > > millsecs, hence unneccessary. > > > > int target_rotation=360; > > int rotation_angle = 10; > > while(!(map1.rotation>target_rotation)) > > { > > readings = irs.getCurrentBuffer(); > > } > > > > My problem is that "readings" is null vector. No readings get stored in > the > > buffer. > > I looked into the code for processReadings, and there is a function > > getDigIn( ) , which should return a true to add Readings to the buffer. > > Since i dont have a real hardware connected, is there any flag ( eg. > ArSick > > ::configure(useSim=true) ), to be set to indicate that I am using a > > simulator ? > > > > > > Thanks in advance, > > Jyotika > > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080731/af8f34ae/attachment.html From blomba at unione.com.br Thu Jul 31 13:40:04 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno Teixeira Lomba?=) Date: Thu, 31 Jul 2008 14:40:04 -0300 Subject: [Aria-users] Mapper3 - Capture "Goals" Message-ID: <20080731174004.7837.qmail@hm1079.locaweb.com.br> Hi Aria users, I?d like to know how do I get capture the "Goals" that set on a map in the Mapper3 Basic. I?m developing an interface that has a communication with the simulator, and need some identifier of the goal able to get a validation .. There is an interface to the search request, that I insert a specific goal, and he sends to Simulator, which "Goal" must follow it ... Thank you. Bruno Lomba From albertocorralesgarcia at gmail.com Thu Jul 31 13:53:47 2008 From: albertocorralesgarcia at gmail.com (Alberto Corrales Garcia) Date: Thu, 31 Jul 2008 19:53:47 +0200 Subject: [Aria-users] Mapper3 - Capture "Goals" In-Reply-To: <20080731174004.7837.qmail@hm1079.locaweb.com.br> References: <20080731174004.7837.qmail@hm1079.locaweb.com.br> Message-ID: <1672c7d80807311053i7d605e12m9ec8e6a937b97f9b@mail.gmail.com> here you have a function that I use to seach one objetive (mark) by name (markId) , if it found return true and x, y, th data. False otherwise bool searchMarkInfo(int markId, float &x, float &y, float &angle) { std::list::const_iterator it; ArMapObject * objeto; for (it = mapObjects->begin(); it != mapObjects->end(); it++) { objeto = (*it); if(strcmp(objeto->getType(),"GoalWithHeading")==0 && (markId == atoi(objeto->getName()))) { x=objeto->getPose().getX(); y=objeto->getPose().getY(); angle = objeto->getPose().getTh(); return true; } } return false; } Before, you must load the map and the objects of the maps: std::list< ArMapObject * > * mapObjects;// object of the map ArMap *myMap; myMap = new ArMap("./"); if(!myMap->readFile("mymap.map")) { printf("\nError ..."); return false; } else printf("\n>Mapa loading ..."); mapObjects = myMap-> getMapObjects(); 2008/7/31 Bruno Teixeira Lomba > Hi Aria users, > > I?d like to know how do I get capture the "Goals" that set on a map in the > Mapper3 Basic. > > I?m developing an interface that has a communication with the simulator, > and need some identifier of the goal able to get a validation .. > > There is an interface to the search request, that I insert a specific goal, > and he sends to Simulator, which "Goal" must follow it ... > > Thank you. > > Bruno Lomba > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -- -=-=-=-=-=-=-=-=-=-=-=-=-=--=-=-=-=-=-=-=-=-=-=-=-=-=-= Alberto Corrales Garc?a Coordinador DotNetClub Albacete blog: http://labloguera.net/blogs/alberto/ web: http://albertocorralesgarcia.googlepages.com PFC: http://pfc-albertocorralesgarcia.blogspot.com/ -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080731/5c0a4bee/attachment.html From pierrel at fit.edu Thu Jul 31 13:54:56 2008 From: pierrel at fit.edu (Pierre Larochelle) Date: Thu, 31 Jul 2008 13:54:56 -0400 Subject: [Aria-users] MobileEyes/ARNL questions Message-ID: <4891FC70.3090903@fit.edu> Hello, Two questions. (1) What does the "Localization" button in the MobileEyes tool bar do? Please note that I am asking about "Localization"- not "Localize to Point". (2) Is there a way via MobileEyes to execute programs on the robot? For example, we have written some custom code to operate the powerbot arm. Can we run that code somehow through the MobileEyes interface? Can this be done via the "custom commands" capability in MobileEyes? Thanks! - Pierre -- Prof. Pierre Larochelle, Ph.D., P.E. Mechanical & Aerospace Engineering Department Florida Institute of Technology 150 West University Blvd. Melbourne, FL 32901-6975 321-674-7274 (off) 321-674-8813 (fax) http://my.fit.edu/~pierrel/ From blomba at unione.com.br Thu Jul 31 14:35:39 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno Teixeira Lomba?=) Date: Thu, 31 Jul 2008 15:35:39 -0300 Subject: [Aria-users] Convert SONARNL -> ARNL Message-ID: <20080731183539.1335.qmail@hm1079.locaweb.com.br> Hi ARIA users, Someone help me? How do I get the log that SONARNL generates in a robot navigation? I need this log, to converts it to get ARNL ... (if that is possible)... In order to load the map sailed to the data from ARNL therefore is more accurate ... My robot has no laser, only sonar ... Thanks Bruno Lomba