From mekendahl at comcast.net  Tue May 27 10:30:30 2008
From: mekendahl at comcast.net (mekendahl at comcast.net)
Date: Tue, 27 May 2008 14:30:30 +0000
Subject: [Aria-users] MobileRobots New Mailing List Server
Message-ID: <052720081430.5108.483C1B0600069B01000013F4221655140604080E0B020A050A03@comcast.net>

This is a test of the new mailman mailing list server.

-Martin

From reed at mobilerobots.com  Tue May 27 10:44:12 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 27 May 2008 10:44:12 -0400
Subject: [Aria-users] tcm2
In-Reply-To: <824307.94516.qm@web36105.mail.mud.yahoo.com>
References: <824307.94516.qm@web36105.mail.mud.yahoo.com>
Message-ID: <483C1E3C.4060201@mobilerobots.com>

ali sekmen wrote:
> Does anyone know how to modify guiServer to include
> TCM2 commands?

Can you be more specific? Do you want to get compass data back and display it in 
MobileEyes or draw it on the map, or turn the compass on/off from MobileEyes? Or 
do you want to incorporate the compass heading into the robot's heading?

Reed


From wjxnet_126 at 126.com  Tue May 27 11:15:19 2008
From: wjxnet_126 at 126.com (wjxnet_126 at 126.com)
Date: Tue, 27 May 2008 23:15:19 +0800 (CST)
Subject: [Aria-users] Robots' initial positions when choosing "Create a
 new robot for each connection" in MobileSim
In-Reply-To: <483C0663.1020705@mobilerobots.com>
References: <483C0663.1020705@mobilerobots.com>
	<29251047.258051211620208581.JavaMail.coremail@bj126app20.126.com>
Message-ID: <29331480.934671211901319200.JavaMail.coremail@bj126app28.126.com>

 Thanks, Reed!
 
You way does let the robot moves after server runs. Anyhow i finds the robot moves too fast from (0,0,0) to its desired positions, and wonder whether the real robot will move according to this command.
 
Could you please take a look at my codes, which let the robot, also a serverbase, move 2m from (0,0,0)
 
  ArServerBase server;
  ArServerSimpleOpener simpleOpener(&parser);
  ArClientSwitchManager clientSwitchManager(&server, &parser);
  ....   
  ArServerInfoRobot serverInfoRobot(&server, &robot);
  ArServerInfoSensor serverInfoSensor(&server, &robot);
 
  teleop = new ArActionGroup(&robot);
  teleop->activateExclusive();
 
  robot.enableMotors();
  robot.runAsync(true);
  robot.lock();
  robot.move(2000);
  robot.unlock();
 
The robot does move forward 2m, anyhow i find the teleop mode does not work any more. I can only use left and right arrow key to make the robot rotate, but up or down arrow key does not work. What's wrong?
 
 
 

?2008-05-27?"Reed Hedges" <reed at mobilerobots.com> ???

Hello,

You can run MobileSim on a command line with the --start option to select a 
different position (a specific position, an arbitrary position but outside the 
map, or a random position).  If the map has a home point or dock point, it will 
also use that as the starting point instead of 0,0,0 -- however all robots will 
still use this position.

You can move the robot after your client program is connected, use the 
SIM_SET_POSE command #24. This command takes three 32-bit (4-byte) integers as 
arguments, so you need to send it like this:

     ArRobotPacket pkt;
     pkt.setID(ArCommands::SIM_SET_POSE);
     pkt.uByteToBuf(0); // argument type: ignored.
     pkt.byte4ToBuf(x);
     pkt.byte4ToBuf(y);
     pkt.byte4ToBuf(th);
     pkt.finalizePacket();
     robot.getDeviceConnection()->write(pkt.getBuf(), pkt.getLength());

Reed

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From reed at mobilerobots.com  Tue May 27 11:21:29 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 27 May 2008 11:21:29 -0400
Subject: [Aria-users] Robots' initial positions when choosing "Create a
 new robot for each connection" in MobileSim
In-Reply-To: <29331480.934671211901319200.JavaMail.coremail@bj126app28.126.com>
References: <483C0663.1020705@mobilerobots.com>
	<29251047.258051211620208581.JavaMail.coremail@bj126app20.126.com>
	<29331480.934671211901319200.JavaMail.coremail@bj126app28.126.com>
Message-ID: <483C26F9.8010700@mobilerobots.com>

wjxnet_126 at 126.com wrote:
>  Thanks, Reed!
>  
> You way does let the robot moves after server runs. Anyhow i finds the 
> robot moves too fast from (0,0,0) to its desired positions, and wonder 
> whether the real robot will move according to this command.

The SIM_SET_POSE command only works in the simulator. To move a real robot you 
must drive it. SIM_SET_POSE is analogous to instantaneously picking up the robot 
off the ground and moving it to a new position.  So the odometry does not change 
either.


>  
> Could you please take a look at my codes, which let the robot, also a 
> serverbase, move 2m from (0,0,0)

The teleoperation is managed by ArActions in the teleop action group.  the 
move() direct motion-command bypasses and supercedes all ArActions.  Either use 
an action to do the movement (such as ArActionDriveDistance) -- use 
activateExclusive() to switch to it -- or call ArRobot::clearDirectMotion() 
after the robot finishes the MOVE (check with isMoveDone()).


>   teleop = new ArActionGroup(&robot);
>   teleop->activateExclusive();
>  
>   robot.enableMotors();
>   robot.runAsync(true);
>   robot.lock();
>   robot.move(2000);
>   robot.unlock();
>  

From reed at mobilerobots.com  Tue May 27 12:48:12 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 27 May 2008 12:48:12 -0400
Subject: [Aria-users] tcm2
In-Reply-To: <225362.16454.qm@web36103.mail.mud.yahoo.com>
References: <225362.16454.qm@web36103.mail.mud.yahoo.com>
Message-ID: <483C3B4C.2090508@mobilerobots.com>


MobileEyes will display values at the bottom of the map if you turn on 
View->Details and View->Custom Details.  To add values to the Custom Details, 
create an ArServerInfoStrings object and register it with the global Info Group 
(Aria::getInfoGroup()). Then you can add callbacks to the global Info Group to 
provide data such as compass data. guiServerSonar does this with the 
localization, SIP  and CPU use stats.

Or you could write your own data server component to use with ArServerBase, and 
code in your own GUI to request that data.  (However it wouldn't work with 
MobileEyes.)

Reed Hedges


ali sekmen wrote:
> Yes, we basically trying to display the compass data
> on a GUI. We wrote a dll that can read data from
> guiServer and dislay on a GUI using C#(similar to
> MobileEyes). Hence, we are trying to make guiServer
> broadcast tcm2 data so that our client software (or
> MobileEyes) can receive it to display.
> 
> Thanks.
> 
> 
> 
> --- Reed Hedges <reed at mobilerobots.com> wrote:
> 
>> ali sekmen wrote:
>>> Does anyone know how to modify guiServer to
>> include
>>> TCM2 commands?
>> Can you be more specific? Do you want to get compass
>> data back and display it in 
>> MobileEyes or draw it on the map, or turn the
>> compass on/off from MobileEyes? Or 
>> do you want to incorporate the compass heading into
>> the robot's heading?
>>
>> Reed
>>
>> _______________________________________________
>> Aria-users mailing list
>> Aria-users at lists.mobilerobots.com
>>
> http://lists.mobilerobots.com/mailman/listinfo/aria-users
> 
> 
> 
>       
> 

-- 

Reed Hedges
Developer Software Support
MobileRobots Inc.

Downloads, Documentation, FAQ, and more:
   <http://robots.mobilerobots.com>



From wjxnet_126 at 126.com  Tue May 27 12:48:13 2008
From: wjxnet_126 at 126.com (wjxnet_126 at 126.com)
Date: Wed, 28 May 2008 00:48:13 +0800 (CST)
Subject: [Aria-users] Robots' initial positions when choosing "Create a
 new robot for each connection" in MobileSim
In-Reply-To: <483C26F9.8010700@mobilerobots.com>
References: <483C26F9.8010700@mobilerobots.com>
	<483C0663.1020705@mobilerobots.com>
	<29251047.258051211620208581.JavaMail.coremail@bj126app20.126.com>
	<29331480.934671211901319200.JavaMail.coremail@bj126app28.126.com>
Message-ID: <10808628.564901211906893497.JavaMail.coremail@bj126app38.126.com>

 Thanks, Reed!

 
 ArRobot::clearDirectMotion()  does the work. i can use teleop after the movement now.
 
Anyhow, i write a action class to do some particular movement, but the robot, which is a server, does not move according to the class, the following is the codes
 
class fileMode:public ArAction
{
public:
    fileMode(ArRobot *robot,ArTime *actionStart);
    virtual ~fileMode(void);
    virtual ArActionDesired *fire(ArActionDesired currentDesired);
    virtual void setRobot(ArRobot *robot);
protected:
  ArActionDesired myDesired;
  ArRobot *myRobot; 
  RobotTrace runnerTrace[RobotTraceNum];
  int num;
  ArTime *myStart;
};
// Constructor: Initialize the chase action
fileMode::fileMode(ArRobot *robot, ArTime *actionStart) : ArAction("go")
{ 
  // read robot's trace from a file to the struct runnerTrace  
}
// Destructor
fileMode::~fileMode(void) {}

// The chase action
ArActionDesired *fileMode::fire(ArActionDesired currentDesired)
{
   myDesired.reset();    
   myDesired.setHeading(runnerTrace[1].Th);
   myDesired.setVel(runnerTrace[1].Vel);
   return &myDesired;       
}
 void fileMode::setRobot(ArRobot *robot)
 {
   ArAction::setRobot(robot);  
 }
 
 
ArServerBase server;
ArServerSimpleOpener simpleOpener(&parser);
ArClientSwitchManager clientSwitchManager(&server, &parser);
....
 
fileMode myFileMode(&robot,&actionStart);
robot.addAction(&myFileMode,60);
 
robot.runAsync(true);
server.runAsync();
clientSwitchManager.runAsync();
 

?2008-05-27?"Reed Hedges" <reed at mobilerobots.com> ???

wjxnet_126 at 126.com wrote:
>  Thanks, Reed!
>  
> You way does let the robot moves after server runs. Anyhow i finds the 
> robot moves too fast from (0,0,0) to its desired positions, and wonder 
> whether the real robot will move according to this command.

The SIM_SET_POSE command only works in the simulator. To move a real robot you 
must drive it. SIM_SET_POSE is analogous to instantaneously picking up the robot 
off the ground and moving it to a new position.  So the odometry does not change 
either.


>  
> Could you please take a look at my codes, which let the robot, also a 
> serverbase, move 2m from (0,0,0)

The teleoperation is managed by ArActions in the teleop action group.  the 
move() direct motion-command bypasses and supercedes all ArActions.  Either use 
an action to do the movement (such as ArActionDriveDistance) -- use 
activateExclusive() to switch to it -- or call ArRobot::clearDirectMotion() 
after the robot finishes the MOVE (check with isMoveDone()).


>   teleop = new ArActionGroup(&robot);
>   teleop->activateExclusive();
>  
>   robot.enableMotors();
>   robot.runAsync(true);
>   robot.lock();
>   robot.move(2000);
>   robot.unlock();
>  
_______________________________________________
Aria-users mailing list
Aria-users at lists.mobilerobots.com
http://lists.mobilerobots.com/mailman/listinfo/aria-users
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From robot.htw.aalen at googlemail.com  Wed May 28 05:18:48 2008
From: robot.htw.aalen at googlemail.com (Informatik und Elektronik HTW Aalen)
Date: Wed, 28 May 2008 11:18:48 +0200
Subject: [Aria-users] Sounds
References: <8ef967d50801300707l5a07ad72o6e84178ab0f2c6cc@mail.gmail.com>
	<47A0BFB5.5040707@mobilerobots.com>
Message-ID: <002a01c8c0a3$d7307ae0$6718128d@INFORMATIK.HTWAALEN.DE>

Hello,
about that Buzzer-Sound-thing again:
In the Pioneer3 Manual (version 5) on page 40 there is a sentance I don't understand:
"...1-127 are the corresponding MIDI notes. The remaining are frequencies computed as TONE - 127 * 32 equvalent frequencies from 1 to 4096 Hz, in 32 Hz increments".

I informed myself about those MIDI notes, and the message I get everywhere is "MIDI is not Audio, MIDI does not sound, MIDI _controls_".
Now in Reeds example below, there is the value "60" used for a "C4 tone", but "60" is between 1-127 and therefore a MIDI control command ?
What is the highest value I may use in the tune[] array?
And what about the formula TONE - 127 * 32: which unit is TONE, is it Hz? So an "A" is "440Hz". Do I have to calculate this way?: 440 -127 * 32 = -3624 (??) 
Could the table and calculations on http://en.wikipedia.org/wiki/Note be useful?

The thing is, I got some musical notes and I want to calculate the corresponding value for my tune[] array - And I have no clue how to.
:-)

  ----- Original Message ----- 
  From: Reed Hedges 
  To: Aria Users Mailing List 
  Sent: Wednesday, January 30, 2008 8:19 PM
  Subject: Re: [Aria-users] Sounds



  Hello,

  The SAY command is described more on page 38, though it is a bit confusing.

  You need to call ArRobot::comStrN() with the command ArCommands::SAY (this is 
  the command number, not a function), and a char array containing values that 
  specify the tune, and the length of that array.

  Each value in the array is a duration or a note to play, in the sequence 
  {duration, note, duration, note}, etc...  The durations are in 20ms. increments 
  (not 1ms), so use the value 25 for 500ms (500/20=25).

  For example:

  char tune[6];
  tune[0] = 25; // 500ms
  tune[1] = 60; // C4
  tune[2] = 25; // 500ms
  tune[3] = 62; // D
  tune[4] = 25; // 500ms
  tune[5] = 64; // E
  myRobot->comStrN(ArCommands::SAY, tune, 6);

  Maybe we could add a method to ArRobot that makes this easier if people want it. 
    Do many people use the SAY command?


  Reed
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From cywong at i2r.a-star.edu.sg  Wed May 28 05:27:15 2008
From: cywong at i2r.a-star.edu.sg (Wong Chern Yuen Anthony)
Date: Wed, 28 May 2008 17:27:15 +0800
Subject: [Aria-users] recompiling sonarnl.lib and sonarnl.dll
In-Reply-To: <483C088D.7080002@mobilerobots.com>
References: <162B8AFBFBBB2148A9A1B8F9C575342804826AB4@mailbe01.teak.local.net>
	<483C088D.7080002@mobilerobots.com>
Message-ID: <162B8AFBFBBB2148A9A1B8F9C575342804826F1D@mailbe01.teak.local.net>

Dear Reed,
I changed the files as I was using the urg laser sensor. Matt gave me
the code and the files to replace in the src and include directory so
that I can get the urg to work. The urg works now. Now I have problems
with the SONARNL. I am using sonars instead of laser navigation as we
are in the midst of purchasing the ARNL module.

The guiServerSonar crashes everytime I run it. The error displayed is
"An unhandled win32 exception occurred in guiserversonar.exe [4144]".

The program works if I comment out all the loctask stuff. But nothing
works if I commented that out. 

Thanks for your help. 

Regards,
Anthony

-----Original Message-----
From: Reed Hedges [mailto:reed at mobilerobots.com] 
Sent: 27 May 2008 21:12
To: aria-users at activmedia.com
Cc: aria-users at MobileRobots.com
Subject: Re: [Aria-users] recompiling sonarnl.lib and sonarnl.dll

Wong Chern Yuen Anthony wrote:
> Dear All,
> I modified the ARIA.dll and ARIA.lib and various ARIA dll and lib 
> files to work with the URG laser sensor. After I did that, I can't 
> seem to get the guiServerSonar example to work anymore. Has it got to 
> do with the sonarnl.lib and the sonarnl.dll files?

Yes, it might, especially if you changed the interface to any classes
(i.e. 
changed the header files significantly).

In what way does guiServerSonar no longer work?

Did you try replacing AriaForArnl.dll and AriaForArnl.lib in ARNL's bin
and lib directories?

I can't say whether or not it's really possible to replace ARNL's ARIA
or under what circumstances.

Reed



------------ 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.--------------------------------------------------------


From reed at mobilerobots.com  Wed May 28 09:10:47 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 28 May 2008 09:10:47 -0400
Subject: [Aria-users] Sounds
In-Reply-To: <002a01c8c0a3$d7307ae0$6718128d@INFORMATIK.HTWAALEN.DE>
References: <8ef967d50801300707l5a07ad72o6e84178ab0f2c6cc@mail.gmail.com>	<47A0BFB5.5040707@mobilerobots.com>
	<002a01c8c0a3$d7307ae0$6718128d@INFORMATIK.HTWAALEN.DE>
Message-ID: <483D59D7.3050005@mobilerobots.com>



MIDI is a protocol for controlling musical instruments. Part of that protocol 
specifies integer values to select notes (different pitches).  The Pioneer 
simply borrows those integer values from MIDI; it is not a MIDI implementation.

You can use values between 0 and 255, but values in [127,255] are interpreted 
differently, which is what the funny formula is for:

> And what about the formula TONE - 127 * 32: which unit is TONE, is it 
> Hz? So an "A" is "440Hz". 

That formula provides frequency in Hz from the argument value in the array for 
argument values > 127.

It's easiest to just use (0,127).


> The thing is, I got some musical notes and I want to calculate the 
> corresponding value for my tune[] array - And I have no clue how to.

Unless they span a big range (MIDI notes 0,127 is several octaves I think) I 
would use the MIDI note values for the notes.

I found an example program I made recently that includes a class to help 
construct songs, and includes an enum of some of the MIDI notes, it's attached.

Reed

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From H.Miri at 2007.hull.ac.uk  Thu May 29 06:27:02 2008
From: H.Miri at 2007.hull.ac.uk (Hossein Miri)
Date: Thu, 29 May 2008 11:27:02 +0100
Subject: [Aria-users] running wander.cpp using Infowave modems
References: <445800D8FD5D3D43878FD7D2842A30478DEF40@EXCL2VS2.adir.hull.ac.uk>
	<482D8D6D.3000301@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4A@EXCL2VS2.adir.hull.ac.uk>
	<48346608.6090509@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4B@EXCL2VS2.adir.hull.ac.uk>
	<4835896B.2090900@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4C@EXCL2VS2.adir.hull.ac.uk>
	<4836DBB4.3070006@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4F@EXCL2VS2.adir.hull.ac.uk>
	<483B4A3C.4070402@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F55@EXCL2VS2.adir.hull.ac.uk>
	<483C16AE.6090004@mobilerobots.com>
Message-ID: <445800D8FD5D3D43878FD7D2842A3047898F57@EXCL2VS2.adir.hull.ac.uk>

Hi Reed,
 
I downloaded this package:
 
gcc-g++-3.4.2-20040916-1.tar.gz
 
The Extract Manager wouldn't let me extract it into /root.  I also tried extracting into /usr and /usr/lib but to no avail.
 
Firstly, where exactly should it go?
 
Secondly, how can I use the Extract Manager to perform this, instead of using Terminal?  I used this commands at the terminals.  Please tell me if I need to modify them:
 
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /root
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr/lib



________________________________


Hossein Miri wrote:
> /bin/sh: g++: command not found
> sh: gcc: command not found
> 
> Does this mean GCC compiler wasn't included in Fedora 4 installation?
> 
> Even when I type:  man gcc  It says there is no manual entry for this. 
> So, I need to install G++ compiler.  Is that right?

Yes, install the g++ and gcc packages.   gdb would also be useful.

Sometimes g++ is named for its version number, e.g. g++-3.4.  If this is the
case, you can set the CXX environment variable in the shell before running make
with: export CXX=g++-3.4 .  However I don't think Fedora does this, and it is
probably just missing the g++ package.

Reed

Reed Hedges wrote:
> Yes, install the g++ and gcc packages.   gdb would also be useful.

Also, you should install g++ version 3.4.

Reed

 

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From H.Miri at 2007.hull.ac.uk  Thu May 29 06:27:02 2008
From: H.Miri at 2007.hull.ac.uk (Hossein Miri)
Date: Thu, 29 May 2008 11:27:02 +0100
Subject: [Aria-users] running wander.cpp using Infowave modems
References: <445800D8FD5D3D43878FD7D2842A30478DEF40@EXCL2VS2.adir.hull.ac.uk>
	<482D8D6D.3000301@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4A@EXCL2VS2.adir.hull.ac.uk>
	<48346608.6090509@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4B@EXCL2VS2.adir.hull.ac.uk>
	<4835896B.2090900@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4C@EXCL2VS2.adir.hull.ac.uk>
	<4836DBB4.3070006@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4F@EXCL2VS2.adir.hull.ac.uk>
	<483B4A3C.4070402@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F55@EXCL2VS2.adir.hull.ac.uk>
	<483C16AE.6090004@mobilerobots.com>
Message-ID: <445800D8FD5D3D43878FD7D2842A3047898F57@EXCL2VS2.adir.hull.ac.uk>

Hi Reed,
 
I downloaded this package:
 
gcc-g++-3.4.2-20040916-1.tar.gz
 
The Extract Manager wouldn't let me extract it into /root.  I also tried extracting into /usr and /usr/lib but to no avail.
 
Firstly, where exactly should it go?
 
Secondly, how can I use the Extract Manager to perform this, instead of using Terminal?  I used this commands at the terminals.  Please tell me if I need to modify them:
 
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /root
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr/lib



________________________________


Hossein Miri wrote:
> /bin/sh: g++: command not found
> sh: gcc: command not found
> 
> Does this mean GCC compiler wasn't included in Fedora 4 installation?
> 
> Even when I type:  man gcc  It says there is no manual entry for this. 
> So, I need to install G++ compiler.  Is that right?

Yes, install the g++ and gcc packages.   gdb would also be useful.

Sometimes g++ is named for its version number, e.g. g++-3.4.  If this is the
case, you can set the CXX environment variable in the shell before running make
with: export CXX=g++-3.4 .  However I don't think Fedora does this, and it is
probably just missing the g++ package.

Reed

Reed Hedges wrote:
> Yes, install the g++ and gcc packages.   gdb would also be useful.

Also, you should install g++ version 3.4.

Reed

 

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From reed at mobilerobots.com  Thu May 29 10:24:08 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Thu, 29 May 2008 10:24:08 -0400
Subject: [Aria-users] [Support] RE: Re: running wander.cpp using
 Infowave modems
In-Reply-To: <445800D8FD5D3D43878FD7D2842A3047898F57@EXCL2VS2.adir.hull.ac.uk>
References: <445800D8FD5D3D43878FD7D2842A30478DEF40@EXCL2VS2.adir.hull.ac.uk>
	<482D8D6D.3000301@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4A@EXCL2VS2.adir.hull.ac.uk>
	<48346608.6090509@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4B@EXCL2VS2.adir.hull.ac.uk>
	<4835896B.2090900@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4C@EXCL2VS2.adir.hull.ac.uk>
	<4836DBB4.3070006@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F4F@EXCL2VS2.adir.hull.ac.uk>
	<483B4A3C.4070402@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F55@EXCL2VS2.adir.hull.ac.uk>
	<483C16AE.6090004@mobilerobots.com>
	<445800D8FD5D3D43878FD7D2842A3047898F57@EXCL2VS2.adir.hull.ac.uk>
Message-ID: <483EBC88.1050700@mobilerobots.com>


You should install the Fedora (RedHat) package, which will end in .rpm. 
    If there is no 3.4 package for fedora, it is possible to use another 
version with ARIA if you recompile all of ARIA and ArNetworking and all 
other libraries with the other version.

I don't know too much about Fedora since we use mostly Debian here; 
check the Fedora documentation and user groups.

Reed



Hossein Miri wrote:
> Hi Reed,
>  
> I downloaded this package:
>  
> gcc-g++-3.4.2-20040916-1.tar.gz
>  
> The Extract Manager wouldn't let me extract it into /root.  I also tried extracting into /usr and /usr/lib but to no avail.
>  
> Firstly, where exactly should it go?
>  
> Secondly, how can I use the Extract Manager to perform this, instead of using Terminal?  I used this commands at the terminals.  Please tell me if I need to modify them:
>  
> tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /root
> tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr
> tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr/lib
> 
> 
> 
> ________________________________
> 
> 
> Hossein Miri wrote:
>> /bin/sh: g++: command not found
>> sh: gcc: command not found
>>
>> Does this mean GCC compiler wasn't included in Fedora 4 installation?
>>
>> Even when I type:  man gcc  It says there is no manual entry for this. 
>> So, I need to install G++ compiler.  Is that right?
> 
> Yes, install the g++ and gcc packages.   gdb would also be useful.
> 
> Sometimes g++ is named for its version number, e.g. g++-3.4.  If this is the
> case, you can set the CXX environment variable in the shell before running make
> with: export CXX=g++-3.4 .  However I don't think Fedora does this, and it is
> probably just missing the g++ package.
> 
> Reed
> 
> Reed Hedges wrote:
>> Yes, install the g++ and gcc packages.   gdb would also be useful.
> 
> Also, you should install g++ version 3.4.
> 
> Reed
> 

From H.Miri at 2007.hull.ac.uk  Thu May 29 10:38:44 2008
From: H.Miri at 2007.hull.ac.uk (Hossein Miri)
Date: Thu, 29 May 2008 15:38:44 +0100
Subject: [Aria-users] gcc - g++
Message-ID: <445800D8FD5D3D43878FD7D2842A3047898F58@EXCL2VS2.adir.hull.ac.uk>

Hi Reed,
 
I downloaded this package:
 
gcc-g++-3.4.2-20040916-1.tar.gz
 
The Extract Manager wouldn't let me extract it into /root.  I also tried extracting into /usr and /usr/lib but to no avail.
 
Firstly, where exactly should it go?
 
Secondly, how can I use the Extract Manager to perform this, instead of using Terminal?  I used this commands at the terminals.  Please tell me if I need to modify them:
 
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /root
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr
tar  -xvzf  gcc-g++-3.4.2-20040916-1.tar.gz  /usr/lib



________________________________


Hossein Miri wrote:
> /bin/sh: g++: command not found
> sh: gcc: command not found
> 
> Does this mean GCC compiler wasn't included in Fedora 4 installation?
> 
> Even when I type:  man gcc  It says there is no manual entry for this. 
> So, I need to install G++ compiler.  Is that right?

Yes, install the g++ and gcc packages.   gdb would also be useful.

Sometimes g++ is named for its version number, e.g. g++-3.4.  If this is the
case, you can set the CXX environment variable in the shell before running make
with: export CXX=g++-3.4 .  However I don't think Fedora does this, and it is
probably just missing the g++ package.

Reed

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From reed at mobilerobots.com  Thu May 29 14:02:12 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Thu, 29 May 2008 14:02:12 -0400
Subject: [Aria-users] help - robot pose
In-Reply-To: <139F6E4BC4C585478FA84D02D90CC1CA0DB67493@aexcmb02.network.uni>
References: <139F6E4BC4C585478FA84D02D90CC1CA0D8F675D@aexcmb02.network.uni>
	<483C09B4.6000503@mobilerobots.com>
	<139F6E4BC4C585478FA84D02D90CC1CA0DB67493@aexcmb02.network.uni>
Message-ID: <483EEFA4.4070200@mobilerobots.com>


The --start command line parameter is used when running MobileSim from a 
command shell.

For example

MobileSim --start 2000,2000,90

or

MobileSim --start random

There are several other command arguments, run with --help or see the 
README.

To use SIMSTAT, first register a packet handler callback with ArRobot. 
Then send command 237. In your packet handler callback function, check 
if the packet ID is 0x62, and return if not.  Use the bufTo...Byte() 
methods of ArPacket to extract data from the SIMSTAT packet, according 
to the documentation in the README.

The test program in Aria/tests/testMobileSim.cpp has an example.


However, in general, it is useful for a program to have a way to set the 
robot (odometric) pose (use ArRobot::moveTo()) according to your 
external world or map coordinates, either manually configured or using 
an automatic (sensor) localization technique of some kind.


Reed



Marwan Shaker wrote:
>  
> Dear sir 
> 
> Thank you for your reply , but I tried to use the SIMSTAT packet , but I
> did not get the position of the robot , and I think the problem is the
> programing ( can you I get an example of how to use the SIMSTAT packet ,
> and about the start command-line Option ( what do you mean by this)
> 
> With best wishes
> 
>  
> -----Original Message-----
> From: Reed Hedges [mailto:reed at mobilerobots.com] 
> Sent: 27 May 2008 14:17
> To: aria-users at activmedia.com
> Cc: aria-users at mobilerobots.com
> Subject: Re: [Aria-users] help - robot pose
> 
> Marwan Shaker wrote:
>> Dear sir
>>  
>> i want to ask , i am using ARIA and i wnt to let the robot P3 AT, to 
>> go specific loaction for different locations
>>  
>> like i want the robot to go to ArPose(4000,0,0) , from
>> 1 - ArPose (100,100,0)
>> or from
>> 2 - ArPose (300,10,10)
>>  
>> but the every timei run the robot it start from position ArPose 
>> (0,0,0) ( even if i moved the robot to another location ), how can i 
>> get the exact value of the robot position on the simulater,
>>  
> 
> The robot's odometric pose always starts at 0,0,0, both in the simulator
> and all real robots.  If you have somehow determined the position of the
> robot in some external coordinate system such as the map, you can change
> the robot's odometric pose using ArRobot::moveTo().  After that, updates
> to the robot's odometric pose will be applied to that position.
> 
> You can get the robot's position in the simulator using its special
> SIMSTAT packet. See MobileSim's README for details.  MobileSim also
> always starts the robot at the 0,0,0 point of its map, unless you have a
> home or dock in the map as starting point or use the --start
> command-line option.
> 
> Reed
> 


From yuema.bit at gmail.com  Thu May 29 19:51:31 2008
From: yuema.bit at gmail.com (Yue Ma)
Date: Fri, 30 May 2008 07:51:31 +0800
Subject: [Aria-users] Models of P3-AT , sonar , laser and environment
Message-ID: <332f16ad0805291651l16dc1a28h3d1d177fed6ecb61@mail.gmail.com>

Hi, everyone:
>
>    I designed fuzzy control system for P3-AT under Matlab/Simulink,
but  I
> met some problems on simulation under that environment, because I
found that
> it is hard for me to model the P3-at, sonar, laser and maps.
>
>    I wondered if anyone of you might solve the problem.
>
> Thanks alot*
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From yuema.bit at gmail.com  Fri May 30 03:54:39 2008
From: yuema.bit at gmail.com (Yue Ma)
Date: Fri, 30 May 2008 15:54:39 +0800
Subject: [Aria-users] About models of sonar,
	laser and map of P3-AT for Matlab/Simulink
Message-ID: <332f16ad0805300054u2fa32491icb2a1ec2d1ea2094@mail.gmail.com>

Hi, everyone:

I designed fuzzy control system for P3-AT under Matlab/Simulink,
but  I met some problems on simulation under that environment, because I
found that it is hard for me to model the P3-at, sonar, laser and maps.

 I wondered if anyone of you might solve the problem.

 Thanks a lot

Yue
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From wjxnet_126 at 126.com  Fri May 30 08:09:53 2008
From: wjxnet_126 at 126.com (wjxnet_126)
Date: Fri, 30 May 2008 20:09:53 +0800 (CST)
Subject: [Aria-users] Acts using FLTK library
Message-ID: <12416286.1002171212149393471.JavaMail.coremail@bj126app31.126.com>

 hello, everyone!
 
On our P3-AT, whose OS is Debian, i intall an ACTS full version. When running acts.bin, it reports this error:
 
acts.bin: error while loading shared libraries: libfltk.so.1.1: cannot open shared object file: No such file or directory
 
there is libfltk.so.1.1 in acts/lib. Could you please tell me how to fix the problem, Thanks!
 
 
Jianxin Wu
 
 
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From reed at mobilerobots.com  Fri May 30 16:51:25 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Fri, 30 May 2008 16:51:25 -0400
Subject: [Aria-users] Acts using FLTK library
In-Reply-To: <12416286.1002171212149393471.JavaMail.coremail@bj126app31.126.com>
References: <12416286.1002171212149393471.JavaMail.coremail@bj126app31.126.com>
Message-ID: <484068CD.9000105@mobilerobots.com>

wjxnet_126 wrote:
>  hello, everyone!
>  
> On our P3-AT, whose OS is Debian, i intall an ACTS full version. When 
> running acts.bin, it reports this error:
>  
> acts.bin: error while loading shared libraries: libfltk.so.1.1: cannot 
> open shared object file: No such file or directory
>  
> there is libfltk.so.1.1 in acts/lib. Could you please tell me how to fix 
> the problem, Thanks!

How did you install ACTS? Did you convert it from the RPM file somehow (like 
'alien')?

The RPM should have included a script called "acts" to run it with 
/usr/local/acts/lib in the library path.  Try adding /usr/local/acts/lib to 
LD_LIBRARY_PATH and exporting LD_LIBRARY_PATH before running acts.bin or add 
/usr/local/acts/lib to the /etc/ld.so.conf system configuration file.


Reed



From joe.sfeir at gmail.com  Sat May 31 02:45:52 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Sat, 31 May 2008 02:45:52 -0400
Subject: [Aria-users] About models of sonar,
	laser and map of P3-AT for Matlab/Simulink
In-Reply-To: <332f16ad0805300054u2fa32491icb2a1ec2d1ea2094@mail.gmail.com>
References: <332f16ad0805300054u2fa32491icb2a1ec2d1ea2094@mail.gmail.com>
Message-ID: <6393b71e0805302345h292020f8j40228797194c53a9@mail.gmail.com>

Hi Yue,

I worked on a P3AT for navigation and I had the same problem too. Are you
talking about modeling the maps, sonars and lasers using ARIA, or just
modeling for simulations on Matlab without ARIA?

Thanks.

Joe.

On Fri, May 30, 2008 at 3:54 AM, Yue Ma <yuema.bit at gmail.com> wrote:

> Hi, everyone:
>
> I designed fuzzy control system for P3-AT under Matlab/Simulink,
> but  I met some problems on simulation under that environment, because I
> found that it is hard for me to model the P3-at, sonar, laser and maps.
>
>  I wondered if anyone of you might solve the problem.
>
>  Thanks a lot
>
> Yue
>
> _______________________________________________
> 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
>
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From wjxnet_126 at 126.com  Wed May 28 11:59:03 2008
From: wjxnet_126 at 126.com (wjxnet_126)
Date: Wed, 28 May 2008 23:59:03 +0800 (CST)
Subject: [Aria-users] About actsColorFollowingExample
Message-ID: <16072619.1095741211990343075.JavaMail.coremail@bj126app38.126.com>

 hello,
 
i still want to ask why actsColorFollowingExample can not be run on our P3-AT, in the attachment is the error report. I can use Putty to log in P3-AT, then run vncserver, from vncviewer of a desktop, i can run acts demo, and the cameral transfers correct images. Thanks!
 
Jianxin Wu
 
 
 
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From wahyudi_firman at yahoo.com  Wed May 28 14:35:54 2008
From: wahyudi_firman at yahoo.com (Firman Wahyudi)
Date: Wed, 28 May 2008 11:35:54 -0700 (PDT)
Subject: [Aria-users]  Sonar Mapping Code
Message-ID: <496096.54594.qm@web63811.mail.re1.yahoo.com>

Hello,
I am trying to map an environment based sonar sensor. the robot (P3DX) look for an obstacle (just interior wall), get obstacle's position and robot position when the reading happen.
I have two problems. first, the robot only run about 1 minutes, maybe the robot only run about 10-15 meter then suddenly stop running. I use wander.cpp as basic code.
second, i have try running my robot in different room that have different dimension, but the result always show same pattern, same obstacle's coordinate although i am using difference room.
Would you mind, people @mobilerobots, to try my code in your lab? and if there is something missing function or code to correct my problem, please tell me what is it.

note: I have send my code in examples folder, RobotMap.sln file and MapViewer software to open the output file.
the output file is "file_occl.txt". In tab menu MapViewer click "File-Load-Load Grid Map as List of Points"

Thank's in advance.

Firman


      
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