From vfenelon at gmail.com  Mon Nov  3 12:38:35 2008
From: vfenelon at gmail.com (Valquiria)
Date: Mon, 3 Nov 2008 15:38:35 -0200
Subject: [Aria-users] Re-starting onboard computer peoplebot
Message-ID: <1f0a5ad00811030938g5093383erb2ab7ad29c48480a@mail.gmail.com>

Hi I need a help.
I'm used the peoplebot in my research. It is about perception and
localization used the only one camera. I'm programming in C++. But, in
earlier weeks, the onboard computer don't stay on more than a few minutes on
without re-started.
The operacional system has climb.
Someone known what must being to cause this problem. So what I should do to
solve it, what do you suggest me?
I need finish my research, and without peoplebot this is not feasible aim.

Thank you

Valquiria
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From blomba at unione.com.br  Tue Nov  4 08:27:13 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Tue,  4 Nov 2008 11:27:13 -0200
Subject: [Aria-users] =?iso-8859-1?q?Log_Sonar_Readings?=
In-Reply-To: <N/A>
References: <N/A>
Message-ID: <20081104132713.23863.qmail@hm1079.locaweb.com.br>

Hi Aria-users,

My problem was solved. 

Instead of using getx(), getY() and getTh(), I used getRawEncoderPose().getX()... 

Only then I get the correct value ... 

Thank you for the help...

Hugs

Bruno Teixeira Lomba




Mon, 27 Oct 2008 20:50:00 -0300, "Bruno Teixeira Lomba" <blomba at unione.com.br> escreveu:

> 
> 
> I ran the guiServerSonar with their tips and found the following problems: 
> 
> - I did not use robot.getRunningWithLock (), only robot.isRunning, because not compiled...
> 
> - To turn it always generates the same values. He leads by 1 in 1 second, but always with the same values. I did the test only with the getX. 
> 
> Here attached image of the simulation with the issue said.
> 
> Could you help me? 
> 
> Thanks again
> 
> Bruno Teixeira Lomba
> 
> 
> 
> Mon, 27 Oct 2008 09:09:17 -0400, Reed Hedges <reed at mobilerobots.com> escreveu:
> 
> > Bruno Teixeira Lomba wrote:
> > > I thought of something like: 
> > > 
> > >  while (robot.isRunning ()) ( 
> > >     ArLog::log(ArLog::Normal, "% f", robot.getX()); 
> > >    ); 
> > > 
> > 
> > This will work, if you also lock the robot and include a sleep to avoid 
> > consuming too much CPU time. You can use ArLog::init() to choose a file to write 
> > all log messages to. This will include messages printed by ARIA classes.  (You 
> > could use fprintf or a std::ofstream instead if you don't want to use ArLog)
> > 
> > 
> >  > What point in the guiServerSonar I can put this?
> > 
> > Replace the call to waitForRunExit() with your loop.
> > 
> > 
> > Example:
> > 
> > 
> > At start of program:
> > // Write all Normal and Terse ArLog messages to the file "log.txt" (Verbose is 
> > filtered out)
> > ArLog::init(ArLog::File, ArLog::Normal, "log.txt");
> > 
> > 
> > at end of program instead of robot.waitForRunExit():
> > 
> > // Log X, Y, Theta every second.
> > while(robot.getRunningWithLock()) {
> > 	robot.lock();
> > 	ArLog::log(ArLog::Normal, "%f %f %f", robot.getX(), robot.getY(), robot.getTh());
> > 	robot.unlock();
> > 	ArUtil::sleep(1000); //msec
> > }
> > 
> > 
> > 
> > There is also a class called ArDataLogger which writes information to a file 
> > separately from the main loop and not using ArLog.  ArDataLogger must be 
> > configured using ArConfig (you use MobileEyes Tools->Robot Configuration to 
> > change parameters) and also given ArFunctor objects to invoke to retrieve data 
> > to log (use addString).
> > 
> > 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 mmiskon at monash.edu.au  Wed Nov  5 20:27:15 2008
From: mmiskon at monash.edu.au (Fahmi Miskon)
Date: Thu, 06 Nov 2008 11:27:15 +1000
Subject: [Aria-users] Log Sonar Readings
In-Reply-To: <20081104132713.23863.qmail@hm1079.locaweb.com.br>
Message-ID: <20081106012717.C8F094FB0A@moe.its.monash.edu.au>

Hi guys,

I got this problem where my simulated robot hang at 

robot.lock();
robot.move(400);
robot.unlock();
while(robot.isMoveDone()=0);

It seems that the robot just stop moving and not finish the 400 mm distance.


I use mobilesim software with robot model p3dx.
I use Aria which is compatible with c++ ver 6 2003.
In the program I ve another qt thread running to draw some output.
I also use simulated laser reading in the program.

Do you guys have any idea why this happen?

Regards,
 
Muhammad Fahmi Miskon (Fahmi)
ECSE Postgraduate,
Monash Univ.


From ericavery at epix.net  Fri Nov  7 13:49:21 2008
From: ericavery at epix.net (Eric Avery)
Date: Fri, 7 Nov 2008 13:49:21 -0500
Subject: [Aria-users] Re-starting onboard computer peoplebot
In-Reply-To: <1f0a5ad00811030938g5093383erb2ab7ad29c48480a@mail.gmail.com>
References: <1f0a5ad00811030938g5093383erb2ab7ad29c48480a@mail.gmail.com>
Message-ID: <006001c94109$8c75eee0$07fea8c0@flowbenew>

Valquiria, 

 

When you say the computer will not stay on what do you mean? 

Does the system crash with errors and you have to reboot or dose it simply
reboot on its own?

When the issue does occur is the robot plugged into a charger? 

What hardware do you have running (i.e. LCD, laser, camera.) each device
will use power (LCD uses a lot). 

 

My first suggestion is to monitor the battery voltage. You can use ARIA
ArRobot class to get the voltage and it should be somewhere between 11 and
14 volts. I have noticed random reboots on the pioneer and peoplebot
platforms if the voltage drops below 11 volts. However, you should get
warning beeps from the onboard controller and the battery light should go
from green to red. 

If this is what you are seeing and you have fully charged the batteries then
you either need new batteries or you need to turn off some of the hardware.
It is also possible that there could be a short somewhere that is draining
the batteries but that is very unlikely and I would think you would see
other issues.

 

Eric Avery

 

  _____  

From: aria-users-bounces at lists.mobilerobots.com
[mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Valquiria
Sent: Monday, November 03, 2008 12:39 PM
To: aria-users at lists.mobilerobots.com
Subject: [Aria-users] Re-starting onboard computer peoplebot

 

Hi I need a help.

I'm used the peoplebot in my research. It is about perception and
localization used the only one camera. I'm programming in C++. But, in
earlier weeks, the onboard computer don't stay on more than a few minutes on
without re-started.

The operacional system has climb.

Someone known what must being to cause this problem. So what I should do to
solve it, what do you suggest me?

I need finish my research, and without peoplebot this is not feasible aim.

 

Thank you

 

Valquiria

 

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From luxionghui at gmail.com  Mon Nov 10 12:00:10 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 10 Nov 2008 12:00:10 -0500
Subject: [Aria-users] Anybody knows how Aria calculates velocity and
	accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
Message-ID: <70655cbf0811100900o185aab15w4e33985cf1694b09@mail.gmail.com>

> And which file contains the source code calculating these parameters, and
> how about the accuracy. Thanks very much! Besides, the values returned by
> myRobot->getTransAccel()is always a constant (from gyro), anybody can tell
> me what the problem is? And the value of myGyro->getHeading() keeps changing
> even though the robot does not move at all, is it related to temperature
> compenstation?
> Thanks very much!
>
> --
> "If you really want something in this life, you have to work for it. Now,
> quiet! They're about to announce the lottery numbers..."
> - Homer Simpson
>
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From luxionghui at gmail.com  Mon Nov 10 12:01:32 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 10 Nov 2008 12:01:32 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity and
	accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
Message-ID: <70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>

 And which file contains the source code calculating these parameters, and
how about the accuracy. Thanks very much! Besides, the values returned by
myRobot->getTransAccel()is always a constant (from gyro), anybody can tell
me what the problem is? And the value of myGyro->getHeading() keeps changing
even though the robot does not move at all, is it related to temperature
compenstation?
Thanks very much!

-- 
"If you really want something in this life, you have to work for it. Now,
quiet! They're about to announce the lottery numbers..."
- Homer Simpson
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From kennedy at MobileRobots.com  Mon Nov 10 16:23:24 2008
From: kennedy at MobileRobots.com (William Kennedy)
Date: Mon, 10 Nov 2008 16:23:24 -0500
Subject: [Aria-users] New uARCS firmware
Message-ID: <6.2.5.6.2.20081110162013.03798860@MobileRobots.com>

Hi, all:

Just released uARCS version 4.5. Improvements include additional 
power port assignments and client commands.

Download from http://robots.mobilerobots.com.  Please read the README 
for details.

Regards,
William Kennedy, PhD


From reed at mobilerobots.com  Tue Nov 11 20:01:21 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 11 Nov 2008 20:01:21 -0500
Subject: [Aria-users] Log Sonar Readings
In-Reply-To: <20081027225000.27640.qmail@hm1305.locaweb.com.br>
References: <20081027225000.27640.qmail@hm1305.locaweb.com.br>
Message-ID: <491A2AE1.6000704@mobilerobots.com>


Hello,

Bruno Teixeira Lomba wrote:
> I ran the guiServerSonar with their tips and found the following problems: 
> 
> - I did not use robot.getRunningWithLock (), only robot.isRunning, because not compiled...

I was mistaken about that, isRunning() should work fine

> 
> - To turn it always generates the same values. He leads by 1 in 1 second, but always with the same values. I did the test only with the getX. 
> 

What compiler are you using?  Can you print out any other information 
from ArRobot, or is it also incorrect?   It looks from your image that 
SONARNL is otherwise working correctly, right? (it path plans and 
navigates correctly?)

Reed


From reed at mobilerobots.com  Tue Nov 11 20:20:19 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 11 Nov 2008 20:20:19 -0500
Subject: [Aria-users] Re-starting onboard computer peoplebot
In-Reply-To: <1f0a5ad00811030938g5093383erb2ab7ad29c48480a@mail.gmail.com>
References: <1f0a5ad00811030938g5093383erb2ab7ad29c48480a@mail.gmail.com>
Message-ID: <491A2F53.2030207@mobilerobots.com>


Hello, do you still have this problem? If so, write to 
support at mobilerobots.com.  Include your robot's serial number.

Reed



Valquiria wrote:
> Hi I need a help.
> I'm used the peoplebot in my research. It is about perception and
> localization used the only one camera. I'm programming in C++. But, in
> earlier weeks, the onboard computer don't stay on more than a few minutes on
> without re-started.
> The operacional system has climb.
> Someone known what must being to cause this problem. So what I should do to
> solve it, what do you suggest me?
> I need finish my research, and without peoplebot this is not feasible aim.
> 
> Thank you
> 
> Valquiria
> 
> 

From reed at mobilerobots.com  Tue Nov 11 20:25:37 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 11 Nov 2008 20:25:37 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
 and	accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
Message-ID: <491A3091.4030008@mobilerobots.com>


Xionghui Lu wrote:
 >  And which file contains the source code calculating these 
parameters, and
 > how about the accuracy. Thanks very much!


Hello,

Aria sends velocity commands to, and receives the robot's measured 
forward velocity from the robot's firmware.  This is done in ArRobot 
(src/ArRobot.cpp).  The velocity estimation based on encoder readings is 
internal to the robot firmware.

> Besides, the values returned by
> myRobot->getTransAccel()is always a constant (from gyro), anybody can tell
> me what the problem is? 

This value is not base on a measurement, but is a constant used by the 
firmware when executing motion commands.  That is, you can send a 
desired TransAccel value using setTransAccel(), and the firmware will 
use this value when it needs to increase the robot's velocity to achieve 
a desired commanded velocity.  The default value is set in the firmware 
configuration.

 > And the value of myGyro->getHeading() keeps changing
> even though the robot does not move at all, is it related to temperature
> compenstation?

Yes, it could be an environmental effect on the gyro, or just a small 
oscillation or error. By how much does it vary?


Reed

From lafary at mobilerobots.com  Tue Nov 11 20:53:16 2008
From: lafary at mobilerobots.com (Matt LaFary)
Date: Tue, 11 Nov 2008 20:53:16 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
 and	accelleration of the robot based on encoder?
In-Reply-To: <491A3091.4030008@mobilerobots.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
	<491A3091.4030008@mobilerobots.com>
Message-ID: <491A370C.4080806@mobilerobots.com>

>  > And the value of myGyro->getHeading() keeps changing
>> even though the robot does not move at all, is it related to temperature
>> compenstation?
> 
> Yes, it could be an environmental effect on the gyro, or just a small 
> oscillation or error. By how much does it vary?

The temperature actually wouldn't cause drifting of a gyro, since the 
gyro code basically recalculates the center point whenever the robot is 
stopped (for either the firmware gyro or computer gyro).  Drifting is 
probably more likely related to electrical noise in the robot (if it 
drifts more when you compile or use CPU, this is the problem) or a 
sensor that has more noise than normal for some reason or possibly a 
damaged sensor.

First, see if you are using a newer robot where the gyro is implemented 
in firmware.  You can do that by checking the 'gyroType' in the firmware 
configuration program (see the robot's documentation for that).  If the 
gyroType is 2 or higher then you are using a firmware gyro.  If the type 
is 1 then you are using a computer gyro.

If you have a firmware gyro then you shouldn't use the 
ArAnalogGyro::getHeading command because the correction is done in the 
firmware and just reported to the robot with the corrected value (so the 
getHeading value shouldn't ever actually be set or change).   If the 
normal robot heading is drifting though there's a parameter in the 
firmware called 'DriftFactor' that you can change to get rid of this 
drift, see the firmware documentation for more information on this 
(basically make it bigger).  You may need a newer version of firmware to 
have this parameter.

I've never seen the drift with a computer gyro, but if you have a 
computer gyro and you have a robot that uses ARCOS or uARCS then you can 
probably just convert to using a firmware gyro by setting gyroType to 2 
and then calibrating the gyroCW and gyroCCW parameters (again, see the 
robot's user manual for more information on this) and then set the 
DriftFactor as mentioned in the previous paragraph.  Note that the 
firmware gyro works much better than the computer gyro (and so this 
upgrade is probably recommended for about everyone).

If you do have a computer gyro and have an older robot that can't use 
ARCOS or uARCS and it is drifting then you can look for the lines of 
code in ArAnalogGyro that are:

    if ((fabs(myRobot->getVel()) < 2 && fabs(myRobot->getRotVel()) < 2) &&
	ArMath::fabs(reading) < 2)

and then you need to change the last 2 value (check against 
fabs(reading)) to a higher number.  If your robot doesn't report 0 vel 
or 0 heading when it is sitting still then that is the problem and means 
something else and let us know about it and we'll go from there.

If none of this helps then its possible the sensor is damaged which is a 
hardware problem, so for that you should email support at mobilerobots.com 
with your robot's serial number with the description of the problem (and 
maybe include a link to your email on the online archive so they can see 
the thread, which would be 
http://lists.mobilerobots.com/pipermail/aria-users/2008-November/000296.html).

Matt LaFary
MobileRobots Inc

From luxionghui at gmail.com  Wed Nov 12 16:43:39 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Wed, 12 Nov 2008 16:43:39 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
	and accelleration of the robot based on encoder?
In-Reply-To: <491A370C.4080806@mobilerobots.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
	<491A3091.4030008@mobilerobots.com>
	<491A370C.4080806@mobilerobots.com>
Message-ID: <70655cbf0811121343l31b0c737u4595da936ad99138@mail.gmail.com>

Ok, thanks.
For the gyro part, I don't know whether our gyro is firmware gyro or
computer gyro, but I can read out the value from ArAnalogGyro::getHeading(),
and its value just shifting when the robot is static (not so much, around
0.1/sec). When I lift up the robot and rotate it, I can see the value change
very quickly (obviously the gyro can sense the orientation change), it will
increase when rotated clockwise and decrease counterclockwise.  Does that
mean we have a computer gyro? I can read out ArAnalogGyro::getTemperature()
also, but its value change between 255 and 0, I guess it is just a unsigned
init type.
So do I still need to read directly from gyro, or the heading angle from
myRobot has been corrected by gyro reading and I just don't need to use gyro
reading any more?
On Tue, Nov 11, 2008 at 8:53 PM, Matt LaFary <lafary at mobilerobots.com>wrote:

>   > And the value of myGyro->getHeading() keeps changing
>>
>>> even though the robot does not move at all, is it related to temperature
>>> compenstation?
>>>
>>
>> Yes, it could be an environmental effect on the gyro, or just a small
>> oscillation or error. By how much does it vary?
>>
>
> The temperature actually wouldn't cause drifting of a gyro, since the gyro
> code basically recalculates the center point whenever the robot is stopped
> (for either the firmware gyro or computer gyro).  Drifting is probably more
> likely related to electrical noise in the robot (if it drifts more when you
> compile or use CPU, this is the problem) or a sensor that has more noise
> than normal for some reason or possibly a damaged sensor.
>
> First, see if you are using a newer robot where the gyro is implemented in
> firmware.  You can do that by checking the 'gyroType' in the firmware
> configuration program (see the robot's documentation for that).  If the
> gyroType is 2 or higher then you are using a firmware gyro.  If the type is
> 1 then you are using a computer gyro.
>
> If you have a firmware gyro then you shouldn't use the
> ArAnalogGyro::getHeading command because the correction is done in the
> firmware and just reported to the robot with the corrected value (so the
> getHeading value shouldn't ever actually be set or change).   If the normal
> robot heading is drifting though there's a parameter in the firmware called
> 'DriftFactor' that you can change to get rid of this drift, see the firmware
> documentation for more information on this (basically make it bigger).  You
> may need a newer version of firmware to have this parameter.
>
> I've never seen the drift with a computer gyro, but if you have a computer
> gyro and you have a robot that uses ARCOS or uARCS then you can probably
> just convert to using a firmware gyro by setting gyroType to 2 and then
> calibrating the gyroCW and gyroCCW parameters (again, see the robot's user
> manual for more information on this) and then set the DriftFactor as
> mentioned in the previous paragraph.  Note that the firmware gyro works much
> better than the computer gyro (and so this upgrade is probably recommended
> for about everyone).
>
> If you do have a computer gyro and have an older robot that can't use ARCOS
> or uARCS and it is drifting then you can look for the lines of code in
> ArAnalogGyro that are:
>
>   if ((fabs(myRobot->getVel()) < 2 && fabs(myRobot->getRotVel()) < 2) &&
>        ArMath::fabs(reading) < 2)
>
> and then you need to change the last 2 value (check against fabs(reading))
> to a higher number.  If your robot doesn't report 0 vel or 0 heading when it
> is sitting still then that is the problem and means something else and let
> us know about it and we'll go from there.
>
> If none of this helps then its possible the sensor is damaged which is a
> hardware problem, so for that you should email support at mobilerobots.comwith your robot's serial number with the description of the problem (and
> maybe include a link to your email on the online archive so they can see the
> thread, which would be
> http://lists.mobilerobots.com/pipermail/aria-users/2008-November/000296.html
> ).
>
> Matt LaFary
> MobileRobots Inc
>



-- 
"If you really want something in this life, you have to work for it. Now,
quiet! They're about to announce the lottery numbers..."
- Homer Simpson
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From luxionghui at gmail.com  Wed Nov 12 16:59:35 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Wed, 12 Nov 2008 16:59:35 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
	and accelleration of the robot based on encoder?
In-Reply-To: <491A370C.4080806@mobilerobots.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
	<491A3091.4030008@mobilerobots.com>
	<491A370C.4080806@mobilerobots.com>
Message-ID: <70655cbf0811121359r4b99f435jb28bb7f11af09833@mail.gmail.com>

So could you recommend a way of calculating accelleration (both linear and
angular) to me? I found a post talking about this issue several years ago,
http://lists.mobilerobots.com/pipermail/aria-users/old/msg01363.html
Do you have newer way of doing this? Thanks.
On Tue, Nov 11, 2008 at 8:53 PM, Matt LaFary <lafary at mobilerobots.com>wrote:

>   > And the value of myGyro->getHeading() keeps changing
>>
>>> even though the robot does not move at all, is it related to temperature
>>> compenstation?
>>>
>>
>> Yes, it could be an environmental effect on the gyro, or just a small
>> oscillation or error. By how much does it vary?
>>
>
> The temperature actually wouldn't cause drifting of a gyro, since the gyro
> code basically recalculates the center point whenever the robot is stopped
> (for either the firmware gyro or computer gyro).  Drifting is probably more
> likely related to electrical noise in the robot (if it drifts more when you
> compile or use CPU, this is the problem) or a sensor that has more noise
> than normal for some reason or possibly a damaged sensor.
>
> First, see if you are using a newer robot where the gyro is implemented in
> firmware.  You can do that by checking the 'gyroType' in the firmware
> configuration program (see the robot's documentation for that).  If the
> gyroType is 2 or higher then you are using a firmware gyro.  If the type is
> 1 then you are using a computer gyro.
>
> If you have a firmware gyro then you shouldn't use the
> ArAnalogGyro::getHeading command because the correction is done in the
> firmware and just reported to the robot with the corrected value (so the
> getHeading value shouldn't ever actually be set or change).   If the normal
> robot heading is drifting though there's a parameter in the firmware called
> 'DriftFactor' that you can change to get rid of this drift, see the firmware
> documentation for more information on this (basically make it bigger).  You
> may need a newer version of firmware to have this parameter.
>
> I've never seen the drift with a computer gyro, but if you have a computer
> gyro and you have a robot that uses ARCOS or uARCS then you can probably
> just convert to using a firmware gyro by setting gyroType to 2 and then
> calibrating the gyroCW and gyroCCW parameters (again, see the robot's user
> manual for more information on this) and then set the DriftFactor as
> mentioned in the previous paragraph.  Note that the firmware gyro works much
> better than the computer gyro (and so this upgrade is probably recommended
> for about everyone).
>
> If you do have a computer gyro and have an older robot that can't use ARCOS
> or uARCS and it is drifting then you can look for the lines of code in
> ArAnalogGyro that are:
>
>   if ((fabs(myRobot->getVel()) < 2 && fabs(myRobot->getRotVel()) < 2) &&
>        ArMath::fabs(reading) < 2)
>
> and then you need to change the last 2 value (check against fabs(reading))
> to a higher number.  If your robot doesn't report 0 vel or 0 heading when it
> is sitting still then that is the problem and means something else and let
> us know about it and we'll go from there.
>
> If none of this helps then its possible the sensor is damaged which is a
> hardware problem, so for that you should email support at mobilerobots.comwith your robot's serial number with the description of the problem (and
> maybe include a link to your email on the online archive so they can see the
> thread, which would be
> http://lists.mobilerobots.com/pipermail/aria-users/2008-November/000296.html
> ).
>
> Matt LaFary
> MobileRobots Inc
>



-- 
"If you really want something in this life, you have to work for it. Now,
quiet! They're about to announce the lottery numbers..."
- Homer Simpson
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From reed at mobilerobots.com  Thu Nov 13 08:51:07 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Thu, 13 Nov 2008 08:51:07 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
 and accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811121359r4b99f435jb28bb7f11af09833@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>	<491A3091.4030008@mobilerobots.com>	<491A370C.4080806@mobilerobots.com>
	<70655cbf0811121359r4b99f435jb28bb7f11af09833@mail.gmail.com>
Message-ID: <491C30CB.8060908@mobilerobots.com>

Xionghui Lu wrote:
> So could you recommend a way of calculating accelleration (both linear and
> angular) to me? I found a post talking about this issue several years ago,
> http://lists.mobilerobots.com/pipermail/aria-users/old/msg01363.html

No, if you need a general idea of actual accelerations performed, you 
have to derive it from velocity over time.  (Or infer it from the set 
acceleration parameter (getTransAccel()) and velocity changes your 
program requests.)

Byron's email above provides good advice for using ArInterpolation if 
the 100ms update time is too coarse.

For what purpose(s) do you need the robot acceleration?


Reed


From reed at mobilerobots.com  Thu Nov 13 08:56:08 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Thu, 13 Nov 2008 08:56:08 -0500
Subject: [Aria-users] gyro (Anybody knows how Aria calculates velocity
 and accelleration of the robot based on encoder?)
In-Reply-To: <70655cbf0811121343l31b0c737u4595da936ad99138@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>	<491A3091.4030008@mobilerobots.com>	<491A370C.4080806@mobilerobots.com>
	<70655cbf0811121343l31b0c737u4595da936ad99138@mail.gmail.com>
Message-ID: <491C31F8.6060500@mobilerobots.com>

Xionghui Lu wrote:
> For the gyro part, I don't know whether our gyro is firmware gyro or
> computer gyro, but I can read out the value from ArAnalogGyro::getHeading()

The difference between the two modes is where gyro correction 
calculations are performed, so it depends on whether your firmware 
version supports in-firmware calculations and whether it's enabled in 
the configuration.

> So do I still need to read directly from gyro, or the heading angle from
> myRobot has been corrected by gyro reading and I just don't need to use gyro
> reading any more?

Yes, the theta value in ArRobot has been corrected, either by 
ArAnalogGyro if doing computer/client side correction, or in the 
firmware if doing in-firmware correction.  In the case of in-firmware 
corrections, an ArAnalogGyro object is not needed, but it does provide 
an interface for things like the temperature.

Reed


From enghemin at yahoo.com  Mon Nov 17 05:52:26 2008
From: enghemin at yahoo.com (Hemin Sh.Aumer)
Date: Mon, 17 Nov 2008 02:52:26 -0800 (PST)
Subject: [Aria-users] Motion Commands using ArNetworking
Message-ID: <50496.94210.qm@web56202.mail.re3.yahoo.com>

Hello Aria-Users,
I am trying to send a basic motion?command (ex. robot.setVel(100)) from a remote PC running?as a Client to?the onboard PC running as a Server using ArNetworking. The?option that I found is?using -client.requestOnce("ratioDriving",&packet)-?and?sending parameters using the packet. But how to find out if there is a way to send the motion commands as if I was?sending it from the onboard PC itself? or how to create a service like "ratioDriving" to?run on the server and use it to send -robot.setVel() and robot.stop() for example?

Any help will be appreciated...


?
Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk


      
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From ericavery at epix.net  Mon Nov 17 10:02:42 2008
From: ericavery at epix.net (ericavery at epix.net)
Date: Mon, 17 Nov 2008 10:02:42 -0500
Subject: [Aria-users] Motion Commands using ArNetworking
Message-ID: <380-220081111715242472@M2W007.mail2web.com>

The easiest way to do this is to use the ArSimpleConnector class to connect
an ArRobot instance to a TCP port on the robot PC. The TCP data is then
forwarded to the robot?s serial port. This will allow you to control the
robot via the ArRobot class remotely on the client computer. There is a
?server? program (ipthru) that comes with ARIA that will do the port
forwarding for you. The only draw back to using this technique is that it
may introduce lag in the data transmission. I have seen a few lag issues
with laser data but not much with robot control, as long as you don?t move
too fast things should work just fine.

The program you will want to use is ipthru, it does not come in binary form
so you will have to compile it, you can find the source code ARIA examples
folder. Once you build it you run it on the robot pc like so 

To port forward to the robot controller type
ipthru

To port forward to the laser type
ipthru laser

To show usage syntax type
ipthru /?

Hope this helps
Eric Avery


Original Message:
-----------------
From: Hemin Sh.Aumer enghemin at yahoo.com
Date: Mon, 17 Nov 2008 02:52:26 -0800 (PST)
To: aria-users at lists.mobilerobots.com
Subject: [Aria-users] Motion Commands using ArNetworking


Hello Aria-Users,
I am trying to send a basic motion?command (ex. robot.setVel(100)) from a
remote PC running?as a Client to?the onboard PC running as a Server using
ArNetworking. The?option that I found is?using
-client.requestOnce("ratioDriving",&packet)-?and?sending parameters using
the packet. But how to find out if there is a way to send the motion
commands as if I was?sending it from the onboard PC itself? or how to
create a service like "ratioDriving" to?run on the server and use it to
send -robot.setVel() and robot.stop() for example?

Any help will be appreciated...


?
Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk


      

--------------------------------------------------------------------
mail2web - Check your email from the web at
http://link.mail2web.com/mail2web



From luxionghui at gmail.com  Mon Nov 17 21:45:50 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 17 Nov 2008 21:45:50 -0500
Subject: [Aria-users] Question about setTransAccel()
Message-ID: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>

Hi, I have a question, what is the unit of the acceleration values assigned?
I want to set a contant velocity and make the robot speed up to this value
with fixed acceleration value. But it seems that no matter how small the
acceleration is, the robot still can speed up to the given velocity very
quickly. (I want to see the slowly speed up process so I can calculate
accelration based on realtime velovity and compare it with acceleration
value set)
Besides, I found that a new function setMaxTransAccel() is added to newer
version of Aria, but the aria I am using doesn't contain this function. Does
hardware I am with support the new version of Aria? Thanks and what is this
function for? Set the maximum acceleration value? What's that mean? That
means setting acceleration value using setTransAccel() to a value bigger
than this value is forbidden? I am confused.
Thanks!
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From luxionghui at gmail.com  Mon Nov 17 22:44:24 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 17 Nov 2008 22:44:24 -0500
Subject: [Aria-users] Question about setTransAccel()
In-Reply-To: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
References: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
Message-ID: <70655cbf0811171944u1b40cc0ah35287d5b22c6211b@mail.gmail.com>

And how long it takes Acceleration value take into effect? I tried different
values but didn't see the difference.It alway takes 293 msec to read out the
first non-zero velocity value, then in following around 8 msec reading
cycles, the velocity value keeps unchanges, then in 403 msec it changes to a
new value, then following 8 cycels with the same velocity....
Does that mean robot.getVel() only updates its value every 10 msecs?

robot.lock();
robot.setTransAccel(60);
robot.setVel(200);
robot.unlock();
start.setToNow();

  while (1)
  {
   printf("Current Linear velocity: %.2f\t Current Rotational velocity:
%.2f\n Current Trans Acce: %.2f\t,Current Rotational Acce: %.2f\n,current
position, x: %.2f\t, y: %.2f\n",robot.getVel(),robot.getRotVel(),
robot.getTransAccel(),robot.getRotAccel(), robot.getPose().getX(),
robot.getPose().getY());
    robot.lock();
 printf("Instant: %d\n", start.mSecSince());
    if (start.mSecSince() > 1000)
    {
      printf("Move timed out\n");
      robot.unlock();
      break;
    }

    robot.unlock();
    ArUtil::sleep(10);
  }

On Mon, Nov 17, 2008 at 9:45 PM, Xionghui Lu <luxionghui at gmail.com> wrote:

> Hi, I have a question, what is the unit of the acceleration values
> assigned? I want to set a contant velocity and make the robot speed up to
> this value with fixed acceleration value. But it seems that no matter how
> small the acceleration is, the robot still can speed up to the given
> velocity very quickly. (I want to see the slowly speed up process so I can
> calculate accelration based on realtime velovity and compare it with
> acceleration value set)
> Besides, I found that a new function setMaxTransAccel() is added to newer
> version of Aria, but the aria I am using doesn't contain this function. Does
> hardware I am with support the new version of Aria? Thanks and what is this
> function for? Set the maximum acceleration value? What's that mean? That
> means setting acceleration value using setTransAccel() to a value bigger
> than this value is forbidden? I am confused.
> Thanks!
>



-- 
"If you really want something in this life, you have to work for it. Now,
quiet! They're about to announce the lottery numbers..."
- Homer Simpson
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From waji3000 at 163.com  Tue Nov 18 06:09:37 2008
From: waji3000 at 163.com (waji3000)
Date: Tue, 18 Nov 2008 19:09:37 +0800 (CST)
Subject: [Aria-users] Question about setTransAccel()
Message-ID: <14938602.1142041227006577084.JavaMail.coremail@bj163app18.163.com>

 
1.setVel()
myTransType = TRANS_VEL;
??action?????? Here actions is useless.
2.stateReflector??  ?????????  This function control the  robot
    myActionTransSet = false;
    transVal = ArMath::roundShort(myTransVal);
    transVal2 = 0;
 if (myTransType == TRANS_VEL)   //when you use setVel()
    {
      maxVel = ArMath::roundShort(myTransVelMax);
      if (transVal > maxVel)
 transVal = maxVel;
      if (transVal < -maxVel)
 transVal = -maxVel;
      if (myLastTransVal != transVal || myLastTransType != myTransType ||
   (myLastTransSent.mSecSince() >= myStateReflectionRefreshTime))
      {
 comInt(ArCommands::VEL, ArMath::roundShort(transVal));
 myLastTransSent.setToNow();
 if (myLogMovementSent)
   ArLog::log(ArLog::Normal, "Non-action trans vel of %d", 
       ArMath::roundShort(transVal));
 //printf("Sent command vel!\n");
      }
3.myStateReflectorCB 
myStateReflectorCB(this, &ArRobot::stateReflector)
4.mySyncTaskRoot
 mySyncTaskRoot->addNewLeaf("State Reflector", 45, &myStateReflectorCB);
5.run()
mySyncLoop.runInThisThread();
6.runInThisThread()
call ArSyncLoop::runThread()
7.runThread()
  long timeToSleep;
  ArTime loopEndTime;
  ArTime lastLoop;
while()
{
    lastLoop.setToNow();
    loopEndTime.setToNow();
    loopEndTime.addMSec(myRobot->getCycleTime());  // ??????   the deadline of this cycle
    myRobot->getSyncTaskRoot()->run();            //??  just run
    
    timeToSleep = loopEndTime.mSecTo();          //???????  how many millisecond left
    if (timeToSleep > 0)
      ArUtil::sleep(timeToSleep);                //Sleep
}
8.
int ArRobot::getCycleTime(void) const
{
  return myCycleTime;
}
9.ArRobot()
myCycleTime = 100;
10.ArRobot::setCycleTime(unsigned int ms)
set myCycleTime 
 
And how long it takes Acceleration value take into effect? I tried different values but didn't see the difference.It alway takes 293 msec to read out the first non-zero velocity value, then in following around 8 msec reading cycles, the velocity value keeps unchanges, then in 403 msec it changes to a new value, then following 8 cycels with the same velocity....
Does that mean robot.getVel() only updates its value every 10 msecs?
 
robot.lock();
robot.setTransAccel(60);
robot.setVel(200);
robot.unlock();
start.setToNow();
  
  while (1)
  {
   printf("Current Linear velocity: %.2f\t Current Rotational velocity: %.2f\n Current Trans Acce: %.2f\t,Current Rotational Acce: %.2f\n,current position, x: %.2f\t, y: %.2f\n",robot.getVel(),robot.getRotVel(), robot.getTransAccel(),robot.getRotAccel(), robot.getPose().getX(), robot.getPose().getY());
    robot.lock();
 printf("Instant: %d\n", start.mSecSince());
    if (start.mSecSince() > 1000)
    {
      printf("Move timed out\n");
      robot.unlock();
      break;
    }
 
    robot.unlock();
    ArUtil::sleep(10);
  }


On Mon, Nov 17, 2008 at 9:45 PM, Xionghui Lu <luxionghui at gmail.com> wrote:

Hi, I have a question, what is the unit of the acceleration values assigned? I want to set a contant velocity and make the robot speed up to this value with fixed acceleration value. But it seems that no matter how small the acceleration is, the robot still can speed up to the given velocity very quickly. (I want to see the slowly speed up process so I can calculate accelration based on realtime velovity and compare it with acceleration value set) 
Besides, I found that a new function setMaxTransAccel() is added to newer version of Aria, but the aria I am using doesn't contain this function. Does hardware I am with support the new version of Aria? Thanks and what is this function for? Set the maximum acceleration value? What's that mean? That means setting acceleration value using setTransAccel() to a value bigger than this value is forbidden? I am confused.
Thanks!

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From reed at mobilerobots.com  Tue Nov 18 18:16:46 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 18 Nov 2008 18:16:46 -0500
Subject: [Aria-users] Question about setTransAccel()
In-Reply-To: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
References: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
Message-ID: <49234CDE.3020806@mobilerobots.com>


Hello, translational accelerations are mm/s/s, and rotational are 
degrees/s/s.   So given a smaller value, the robot should take longer to 
approach a commanded speed.  There are two places to set accelerations 
and decelerations: in the robot firmware configuration and in ARIA. 
Accelerations set in ARIA are sent to the robot as commands and they 
take precedence over the default set in the firmware configuration for 
the duration of that client session.   Do you mean 
setAbsoluteMaxTransAccel? Those are limits within ARIA on acceleration 
values; setTransAccel checks this value, and limits requested trans. 
accel if it's greater than this value. (A warning will be printed if it 
does this).  For example, the following code results in ArRobot sending 
an trans. accel command to the robot with the value 100, not 500:

robot.setAbsoluteMaxTransAccel(100);
robot.setTransAccel(500);

ArActionDesired also includes acceleration maximums that an action could 
use to limit the acceleration requests of other actions.

Xionghui Lu wrote:
> Hi, I have a question, what is the unit of the acceleration values assigned?
> I want to set a contant velocity and make the robot speed up to this value
> with fixed acceleration value. But it seems that no matter how small the
> acceleration is, the robot still can speed up to the given velocity very
> quickly. (I want to see the slowly speed up process so I can calculate
> accelration based on realtime velovity and compare it with acceleration
> value set)
> Besides, I found that a new function setMaxTransAccel() is added to newer
> version of Aria, but the aria I am using doesn't contain this function. Does
> hardware I am with support the new version of Aria? Thanks and what is this
> function for? Set the maximum acceleration value? What's that mean? That
> means setting acceleration value using setTransAccel() to a value bigger
> than this value is forbidden? I am confused.
> Thanks!
> 
> 

From reed at mobilerobots.com  Tue Nov 18 18:25:52 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 18 Nov 2008 18:25:52 -0500
Subject: [Aria-users] Question about setTransAccel()
In-Reply-To: <70655cbf0811171944u1b40cc0ah35287d5b22c6211b@mail.gmail.com>
References: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
	<70655cbf0811171944u1b40cc0ah35287d5b22c6211b@mail.gmail.com>
Message-ID: <49234F00.9060406@mobilerobots.com>

Xionghui Lu wrote:
> And how long it takes Acceleration value take into effect? I tried different
> values but didn't see the difference.

It will be sent to the robot in the next iteration of ArRobot's task 
cycle. This timing basically depends on the SIP cycle time but should be 
100ms. It then takes a short amount of time to take effect within the 
robot firmware (<10ms); I don't know if there's a delay between the 
robot starting to move and the velocity value it sends back, I can look 
into it a bit more.   Have you changed the SIP cycle time? Do you have a 
high CPU load when your program runs?  If you check the return of 
ArRobot:getMotorPacCount() you should be getting an average of 10 
(packets/sec).

But in general, if you want to use a value as soon as it's received from 
the robot, you can use an ArRobot task callback.  Sensor Interpretation 
tasks are called right after a SIP packet is received.  See the ArRobot 
documentation for a description of the robot task cycle.

Reed



It alway takes 293 msec to read out the
> first non-zero velocity value, then in following around 8 msec reading
> cycles, the velocity value keeps unchanges, then in 403 msec it changes to a
> new value, then following 8 cycels with the same velocity....
> Does that mean robot.getVel() only updates its value every 10 msecs?
> 
> robot.lock();
> robot.setTransAccel(60);
> robot.setVel(200);
> robot.unlock();
> start.setToNow();
> 
>   while (1)
>   {
>    printf("Current Linear velocity: %.2f\t Current Rotational velocity:
> %.2f\n Current Trans Acce: %.2f\t,Current Rotational Acce: %.2f\n,current
> position, x: %.2f\t, y: %.2f\n",robot.getVel(),robot.getRotVel(),
> robot.getTransAccel(),robot.getRotAccel(), robot.getPose().getX(),
> robot.getPose().getY());
>     robot.lock();
>  printf("Instant: %d\n", start.mSecSince());
>     if (start.mSecSince() > 1000)
>     {
>       printf("Move timed out\n");
>       robot.unlock();
>       break;
>     }
> 
>     robot.unlock();
>     ArUtil::sleep(10);
>   }
> 

From reed at mobilerobots.com  Tue Nov 18 18:34:34 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 18 Nov 2008 18:34:34 -0500
Subject: [Aria-users] Motion Commands using ArNetworking
In-Reply-To: <50496.94210.qm@web56202.mail.re3.yahoo.com>
References: <50496.94210.qm@web56202.mail.re3.yahoo.com>
Message-ID: <4923510A.3040602@mobilerobots.com>



Does the ratio drive request not work for you?

If you want to create a new ArNetworking request to send the commands, 
you can use any of the ArNetworking requests as an example.  In brief, 
you connect an ArFunctor object to a class method to handle requests 
from clients, unpack data from the packet, and act on the request.

Note that ArServerHandlerRatioDrive uses the ArActions system, not 
direct motion functions in ArRobot.  See the API docs for more on 
actions. They are similar to the movement functions but a bit higher 
level and allow several behaviors to be combined (e.g. driving but also 
slowing and stopping the robot so it doesn't hit sensed obstacles).  If 
ArActions and your code using ArRobot's motion functions are both 
active, however, they can conflict (e.g. you use setVel(100) but then an 
action requests 0 velocity), so you should only use one or the other.

Hemin Sh.Aumer wrote:
> Hello Aria-Users,
> I am trying to send a basic motion command (ex. robot.setVel(100)) from a remote PC running as a Client to the onboard PC running as a Server using ArNetworking. The option that I found is using -client.requestOnce("ratioDriving",&packet)- and sending parameters using the packet. But how to find out if there is a way to send the motion commands as if I was sending it from the onboard PC itself? or how to create a service like "ratioDriving" to run on the server and use it to send -robot.setVel() and robot.stop() for example?
> 
> Any help will be appreciated...
> 
> 
>  
> Hemin Sh. Omer
> Nottingham, UK
> www.hemin.co.uk
> 
> 
> 
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> 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 srady at rumms.uni-mannheim.de  Thu Nov 20 03:23:54 2008
From: srady at rumms.uni-mannheim.de (sherine)
Date: Thu, 20 Nov 2008 09:23:54 +0100
Subject: [Aria-users] laptop connection to robot
Message-ID: <49251E9A.5040201@rumms.uni-mannheim.de>

Hallo!
I am using a laptop to drive the Pioneer  P3-DX through a USB to serial 
connection, as my laptop doesn't have a serial port. However i fail to 
connect to the robot, though i tried to install some USB controller for 
it. any help?!

Regards,
Sherine
Mannheim, Germany

From joe.sfeir at gmail.com  Thu Nov 20 10:18:16 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Thu, 20 Nov 2008 11:18:16 -0400
Subject: [Aria-users] Sonar readings and LRF
Message-ID: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>

Hi,

I am using a P3AT for navigation. I use ARIA to execute my algorithm. I am
having a few problems regarding obstacle detection: I only use sonars. And
the readings are very, very noisy! is there a way to get cleaner readings?
is there an averaging function integrated or something? or if you know a way
of treating the signal to clean it?

Also, if I want to use the LRF: the robot has an onboard computer, but I am
not using it. the LRF doesn't seem to get power when then onboard computer
is OFF. Is there a way I can give power to the LRF through ARIA from my
client computer? maybe if I connect directly to the aux power? and if so,
how can I connect to it and get its readings?

If you have other suggestions on detecting obstacles cleanly and easily,
don't hesitate :)

Thanks for your help!

Joe.
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From mjohnson at ihmc.us  Thu Nov 20 10:22:10 2008
From: mjohnson at ihmc.us (Matthew Johnson)
Date: Thu, 20 Nov 2008 09:22:10 -0600
Subject: [Aria-users] laptop connection to robot
In-Reply-To: <49251E9A.5040201@rumms.uni-mannheim.de>
References: <49251E9A.5040201@rumms.uni-mannheim.de>
Message-ID: <0DF6ECCC9243410B885B377C63C68B35@mjdell>

First, figure out if your USB to serial is working.  On windows go to your
control panel -> system properties -> hardware -> device manager and look at
the communication ports.  When you plug your USB in it should show up as a
com port.  It is usually COM3 or higher.  Note the com port number and use
this to connect to Aria.  You can use Aria's ArgParser with
ArSimpleConnector to connect.  

Matt

-----Original Message-----
From: aria-users-bounces at lists.mobilerobots.com
[mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of sherine
Sent: Thursday, November 20, 2008 2:24 AM
To: Aria-users at lists.mobilerobots.com
Subject: [Aria-users] laptop connection to robot

Hallo!
I am using a laptop to drive the Pioneer  P3-DX through a USB to serial 
connection, as my laptop doesn't have a serial port. However i fail to 
connect to the robot, though i tried to install some USB controller for 
it. any help?!

Regards,
Sherine
Mannheim, Germany
_______________________________________________
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 Nov 20 10:28:48 2008
From: mjohnson at ihmc.us (Matthew Johnson)
Date: Thu, 20 Nov 2008 09:28:48 -0600
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
Message-ID: <9AC58C9A89B64175B781527B94D30B56@mjdell>

Joe,

 

Welcome to the world of sonar.  It is notoriously noisy and inaccurate.  You
can filter some, but it won't help much.  LRF is a reasonable solution.  LRF
significantly better than sonar.  If you have one.use it.  You can power it
directly from the AUX.  I will let the ActivMedia folks fill in how to get
readings.

 

Matt

 

 

  _____  

From: aria-users-bounces at lists.mobilerobots.com
[mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Joe Sfeir
Sent: Thursday, November 20, 2008 9:18 AM
To: aria-users at mobilerobots.com
Subject: [Aria-users] Sonar readings and LRF

 

Hi,

 

I am using a P3AT for navigation. I use ARIA to execute my algorithm. I am
having a few problems regarding obstacle detection: I only use sonars. And
the readings are very, very noisy! is there a way to get cleaner readings?
is there an averaging function integrated or something? or if you know a way
of treating the signal to clean it?

 

Also, if I want to use the LRF: the robot has an onboard computer, but I am
not using it. the LRF doesn't seem to get power when then onboard computer
is OFF. Is there a way I can give power to the LRF through ARIA from my
client computer? maybe if I connect directly to the aux power? and if so,
how can I connect to it and get its readings?

 

If you have other suggestions on detecting obstacles cleanly and easily,
don't hesitate :)

 

Thanks for your help!

 

Joe.

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From luxionghui at gmail.com  Thu Nov 20 10:50:03 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Thu, 20 Nov 2008 10:50:03 -0500
Subject: [Aria-users] Question about setTransAccel()
In-Reply-To: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
References: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
Message-ID: <70655cbf0811200750s498d4c50r8c3f21ee725ee472@mail.gmail.com>

It is weird that sometimes when I set different acceleration value, I can
see the speed up difference when making robot move, but sometimes it is not.
Furthermore, sometimes, when I keep the value the same, the robot speeds up
in a abvious different accelration value. Anybody can tell me why? Thanks!

FILE *f;
   f = fopen("data.txt","w");
  robot.lock();
  robot.setTransAccel(10);
  robot.setVel(100);
  robot.unlock();
  start.setToNow();

  while (1)
  {
   fprintf(f,"Instant: %4d\tCur Line velo: %4.2f\t Cur Rota velo: %4.2f\t
Cur Trans Acce: %4.2f\t,Cur Rota Acce: %4.2f\t,cur pos, x: %4.2f\t, y:
%4.2f\n",start.mSecSince(), robot.getVel(),robot.getRotVel(),
robot.getTransAccel(),robot.getRotAccel(), robot.getPose().getX(),
robot.getPose().getY());
      robot.lock();
    if (start.mSecSince() > 5000)
    {
      printf("Distance timed out\n");
      robot.unlock();
      break;
    }

    robot.unlock();
    ArUtil::sleep(10);
   }

On Mon, Nov 17, 2008 at 9:45 PM, Xionghui Lu <luxionghui at gmail.com> wrote:

> Hi, I have a question, what is the unit of the acceleration values
> assigned? I want to set a contant velocity and make the robot speed up to
> this value with fixed acceleration value. But it seems that no matter how
> small the acceleration is, the robot still can speed up to the given
> velocity very quickly. (I want to see the slowly speed up process so I can
> calculate accelration based on realtime velovity and compare it with
> acceleration value set)
> Besides, I found that a new function setMaxTransAccel() is added to newer
> version of Aria, but the aria I am using doesn't contain this function. Does
> hardware I am with support the new version of Aria? Thanks and what is this
> function for? Set the maximum acceleration value? What's that mean? That
> means setting acceleration value using setTransAccel() to a value bigger
> than this value is forbidden? I am confused.
> Thanks!
>
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From luxionghui at gmail.com  Thu Nov 20 11:38:30 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Thu, 20 Nov 2008 11:38:30 -0500
Subject: [Aria-users] Question about setTransAccel()
In-Reply-To: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
References: <70655cbf0811171845pc5d6bb0v6e940dc33569c5e3@mail.gmail.com>
Message-ID: <70655cbf0811200838n2e29580dj1995b9a4fe8d9689@mail.gmail.com>

Hi, I am sure ARIA I am using is the old version since I didn't see
setMaxTransAccel() function. So my question is, how large the old robot's
accceleration value could be set? Thanks.

On Mon, Nov 17, 2008 at 9:45 PM, Xionghui Lu <luxionghui at gmail.com> wrote:

> Hi, I have a question, what is the unit of the acceleration values
> assigned? I want to set a contant velocity and make the robot speed up to
> this value with fixed acceleration value. But it seems that no matter how
> small the acceleration is, the robot still can speed up to the given
> velocity very quickly. (I want to see the slowly speed up process so I can
> calculate accelration based on realtime velovity and compare it with
> acceleration value set)
> Besides, I found that a new function setMaxTransAccel() is added to newer
> version of Aria, but the aria I am using doesn't contain this function. Does
> hardware I am with support the new version of Aria? Thanks and what is this
> function for? Set the maximum acceleration value? What's that mean? That
> means setting acceleration value using setTransAccel() to a value bigger
> than this value is forbidden? I am confused.
> Thanks!
>
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From enghemin at yahoo.com  Sat Nov 22 09:22:18 2008
From: enghemin at yahoo.com (Hemin Sh.Aumer)
Date: Sat, 22 Nov 2008 06:22:18 -0800 (PST)
Subject: [Aria-users] Using Aria in MFC Applications
Message-ID: <221473.22962.qm@web56208.mail.re3.yahoo.com>

Hello Aria-Users,
Any body has every tried to use Aria with MFC applications? Why there are conflicts between area and MFC? when Aria.h included in?an MFC application error?appear?such as "error C3861: 'timeGetTime': identifier not found".!!
Any ideas where exactly Aria headers should be located and included?
?
Regards..
?
Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk


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From srady at rumms.uni-mannheim.de  Sat Nov 22 13:00:27 2008
From: srady at rumms.uni-mannheim.de (sherine)
Date: Sat, 22 Nov 2008 19:00:27 +0100
Subject: [Aria-users] Aria-C++ compatibility?
Message-ID: <492848BB.2060300@rumms.uni-mannheim.de>

Hello!
I am writing my first simple program to connect to Pioneer 3P-DX through 
VC++ 2008 environment..
I know that for compatibility issues the Aria libraries need to be 
rebuild again. I did so which was fine..
however i get the following error when executing my program:

LINK : fatal error LNK1104: cannot open file 'Aria.lib'

though i define the path of the ARIA library in the LINKER. The PATH 
environment variable as well includes Aria's bin directory for the dll 
file...

Is there something that i might not know about the compatibility of the 
used version?
or may be another?

regards,
Sherine

From waji3000 at 163.com  Sun Nov 23 03:39:11 2008
From: waji3000 at 163.com (waji3000)
Date: Sun, 23 Nov 2008 16:39:11 +0800 (CST)
Subject: [Aria-users] Using Aria in MFC Applications
In-Reply-To: <221473.22962.qm@web56208.mail.re3.yahoo.com>
References: <221473.22962.qm@web56208.mail.re3.yahoo.com>
Message-ID: <31909434.194441227429551850.JavaMail.coremail@bj163app131.163.com>

To solve the problem, please follow steps as follow:
1. Add a new head file named Win32OS.h to Aria project
the content of the file as:
 
#ifndef ___WIN32OS_H__
#define  ___WIN32OS_H__
#define WIN32_LEAN_AND_MEAN
#include <windows.h>
#include <MMSystem.h>
#endif
 
2.modify the file ariaUtil.h
 
#ifndef ARIAUTIL_H
#define ARIAUTIL_H
#define _GNU_SOURCE 1
#include <string>
// #define _XOPEN_SOURCE 500
#include <list>
#include <math.h>
#include <stdarg.h>
#if defined(_WIN32) || defined(WIN32)
#include <sys/timeb.h>
#include <sys/stat.h>
#include "Win32OS.h"
#else
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <unistd.h>
#endif // ifndef win32
#include <time.h>
#include "ariaTypedefs.h"
#include "ArLog.h"
#include "ArFunctor.h"
#include "ArArgumentParser.h"
//#include "ariaInternal.h"
#include "ariaOSDef.h"
#ifndef M_PI
#define M_PI 3.1415927
#endif // of M_PI, windows has a function call instead of a define
 
3.Rebulid the project. then it will work.

Hello Aria-Users,
Any body has every tried to use Aria with MFC applications? Why there are conflicts between area and MFC? when Aria.h included in an MFC application error appear such as "error C3861: 'timeGetTime': identifier not found".!!
Any ideas where exactly Aria headers should be located and included?
 
Regards..
 

Hemin Sh. Omer

Nottingham, UK

www.hemin.co.uk

 


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From charif at gmx.net  Sun Nov 23 06:32:22 2008
From: charif at gmx.net (Charif Moussa)
Date: Sun, 23 Nov 2008 12:32:22 +0100
Subject: [Aria-users] ArSick and Matlab
Message-ID: <20081123113222.196590@gmx.net>

Hello, 
I am using Aria with Matlab and tried to activate the ArSonarDevice and ArSick at the same time.
I have integrated ArSick in my code, but until now MobileSim won't use the Laser.
If someone knows, whats the problem, please let me know.
Enclosed you will find the code:
(added lines for Sick surrounded with //)

#include <mex.h>
#include <Aria.h>

// All active robot connections are stored in the cnxTable
static int num_robots = 0;
#define MAX_ROBOTS 10
struct {
    ArRobot *robot;
    ArSimpleConnector *connector;
} cnxTable[MAX_ROBOTS];

static void
robot_connect(int nlhs, mxArray *plhs[], int nrhs,
	      const mxArray *prhs[])
{
    int i;
    char *addr;
    ArRobot *robot;
    
    ////////////////
    ArSick *sick;       
    ////////////////

    ArArgumentBuilder builder;
    ArSimpleConnector *connector;
    ArSonarDevice *sonar;
    ArActionStallRecover recover;
    ArActionBumpers bumpers;
    ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
    ArActionAvoidFront avoidFrontFar;
    ArActionConstantVelocity constantVelocity("Constant Velocity", 100);

    if (num_robots == MAX_ROBOTS) {
	mexErrMsgTxt("MAX_ROBOTS reached");
    }
    
    if (mxGetM(prhs[1]) != 1 || !mxIsChar(prhs[1])) {
	mexErrMsgTxt("The second rhs argument has to be a string.");
    }
    // Build the temporary remoteHost string
    addr = new char[13 + mxGetN(prhs[1])];
    strcpy(addr, "-remoteHost ");
    mxGetString(prhs[1], addr + 12, mxGetN(prhs[1]) + 1);
    builder.add(addr);

    // Destroy any existing connection to this robot
    robot = Aria::findRobot(addr);
    if(robot) {
        for (i = 0; i < MAX_ROBOTS; i++) {
	    if (cnxTable[i].robot == robot) {
		mexPrintf("disconnecting stale connection %d\n", i);
		cnxTable[i].robot->stopRunning();
		delete cnxTable[i].robot;
		delete cnxTable[i].connector;
		cnxTable[i].robot = NULL;
		break;
	    }
	}
    }
	
    connector = new ArSimpleConnector(&builder);
    robot = new ArRobot(addr);
    delete [] addr;

    if (!connector->parseArgs()) {
	delete robot;
	delete connector;
	mexErrMsgTxt("parseArgs failed");
    }
    robot->addRangeDevice(new ArSonarDevice());

    ///////////////////////
    robot->addRangeDevice(&sick);
    ///////////////////////

    if (!connector->connectRobot(robot)) {
	delete robot;
	delete connector;
	mexErrMsgTxt("connection failed");
    }
    robot->comInt(ArCommands::SOUNDTOG, 0);
    robot->comInt(ArCommands::SONAR, 1); 
    robot->comInt(ArCommands::ENABLE, 1);

    robot->setAbsoluteMaxTransVel(200);
    robot->setAbsoluteMaxRotVel(50);

    robot->runAsync(true);

    //////////////////////////
    connector->setupLaser(&sick);
    sick->runAsync();			
    /////////////////////////

    // Add to the connection table
    for(i = 0; i < MAX_ROBOTS; i++) {
	if (cnxTable[i].robot == NULL) {
	    cnxTable[i].robot = robot;
	    cnxTable[i].connector = connector;
	    break;
	}
    }
    plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
    *((double *)mxGetPr(plhs[0])) = i;
}
-- 
Psssst! Schon vom neuen GMX MultiMessenger geh?rt? Der kann`s mit allen: http://www.gmx.net/de/go/multimessenger

From work.chandan at gmail.com  Sun Nov 23 08:58:54 2008
From: work.chandan at gmail.com (Chandan Datta)
Date: Sun, 23 Nov 2008 17:58:54 +0400
Subject: [Aria-users] Motion Commands using ArNetworking
In-Reply-To: <50496.94210.qm@web56202.mail.re3.yahoo.com>
References: <50496.94210.qm@web56202.mail.re3.yahoo.com>
Message-ID: <2457b8930811230558g20c8422ck1546b76bf8a6e483@mail.gmail.com>

Checkout my thread here ,as I had the same issue :
http://lists.mobilerobots.com/pipermail/aria-users/2008-August/000175.html

On Mon, Nov 17, 2008 at 2:52 PM, Hemin Sh.Aumer <enghemin at yahoo.com> wrote:

> Hello Aria-Users,
> I am trying to send a basic motion command (ex. robot.setVel(100)) from a
> remote PC running as a Client to the onboard PC running as a Server using
> ArNetworking. The option that I found is using
> -client.requestOnce("ratioDriving",&packet)- and sending parameters using
> the packet. But how to find out if there is a way to send the motion
> commands as if I was sending it from the onboard PC itself? or how to create
> a service like "ratioDriving" to run on the server and use it to send
> -robot.setVel() and robot.stop() for example?
>
> Any help will be appreciated...
>
>
>
>
> *Hemin Sh. Omer*
>
> *Nottingham, UK*
>
> *www.hemin.co.uk* <http://www.hemin.co.uk/>
>
>
>
>
> _______________________________________________
> 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
>



-- 
Regards,
Chandan
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From enghemin at yahoo.com  Mon Nov 24 06:09:59 2008
From: enghemin at yahoo.com (Hemin Sh.Aumer)
Date: Mon, 24 Nov 2008 03:09:59 -0800 (PST)
Subject: [Aria-users] Aria-C++ compatibility?
References: <492848BB.2060300@rumms.uni-mannheim.de>
Message-ID: <666611.14858.qm@web56206.mail.re3.yahoo.com>

Hi there,
I am using Visual Studio 2005 so not sure exactly what are the differnces but this error happends in 2005 if you haven't added the library file to the?directories of the projects.. more in detail..

go to tools-> options->?projects and solutions->visual C++ directories.. and on the right hand side select library files from the second drop down list..?and then add C:\Program Files\Mobilerobots\Aria\lib...?I am assuming that you have installed Aria in the default location and you are using Windows XP. 

I hope this is helpful...

?
Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk
?




________________________________
From: sherine <srady at rumms.uni-mannheim.de>
To: Aria-users at lists.mobilerobots.com
Sent: Saturday, November 22, 2008 6:00:27 PM
Subject: [Aria-users] Aria-C++ compatibility?

Hello!
I am writing my first simple program to connect to Pioneer 3P-DX through 
VC++ 2008 environment..
I know that for compatibility issues the Aria libraries need to be 
rebuild again. I did so which was fine..
however i get the following error when executing my program:

LINK : fatal error LNK1104: cannot open file 'Aria.lib'

though i define the path of the ARIA library in the LINKER. The PATH 
environment variable as well includes Aria's bin directory for the dll 
file...

Is there something that i might not know about the compatibility of the 
used version?
or may be another?

regards,
Sherine
_______________________________________________
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 ericavery at epix.net  Mon Nov 24 09:33:06 2008
From: ericavery at epix.net (ericavery at epix.net)
Date: Mon, 24 Nov 2008 09:33:06 -0500
Subject: [Aria-users] ArSick and Matlab
Message-ID: <380-220081112414336833@M2W020.mail2web.com>

You also need to connect to the laser, try adding a call to
blockingConnect() just after you call runAsync(). The call will use the
SimpleConnector to connect to the laser and block until the laser is
powered up and scanning.

heres the code i use to connect

ArRobot robot;
ArArgumentBuilder builder;
builder.AddPlain("-laserincrement one");
ArSimpleConnector connector(builder);

connector.parseArgs();
connector.connectRobot(&robot);

Arsick laser;
robot.addReangeDevice(&laser);
connector.setupLaser(&laser);
laser.runAsync();
laser.blockingConnect();

Hope this helps..
Eric Avery

Original Message:
-----------------
From: Charif Moussa charif at gmx.net
Date: Sun, 23 Nov 2008 12:32:22 +0100
To: aria-users at lists.mobilerobots.com
Subject: [Aria-users] ArSick and Matlab


Hello, 
I am using Aria with Matlab and tried to activate the ArSonarDevice and
ArSick at the same time.
I have integrated ArSick in my code, but until now MobileSim won't use the
Laser.
If someone knows, whats the problem, please let me know.
Enclosed you will find the code:
(added lines for Sick surrounded with //)

#include <mex.h>
#include <Aria.h>

// All active robot connections are stored in the cnxTable
static int num_robots = 0;
#define MAX_ROBOTS 10
struct {
    ArRobot *robot;
    ArSimpleConnector *connector;
} cnxTable[MAX_ROBOTS];

static void
robot_connect(int nlhs, mxArray *plhs[], int nrhs,
	      const mxArray *prhs[])
{
    int i;
    char *addr;
    ArRobot *robot;
    
    ////////////////
    ArSick *sick;       
    ////////////////

    ArArgumentBuilder builder;
    ArSimpleConnector *connector;
    ArSonarDevice *sonar;
    ArActionStallRecover recover;
    ArActionBumpers bumpers;
    ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
    ArActionAvoidFront avoidFrontFar;
    ArActionConstantVelocity constantVelocity("Constant Velocity", 100);

    if (num_robots == MAX_ROBOTS) {
	mexErrMsgTxt("MAX_ROBOTS reached");
    }
    
    if (mxGetM(prhs[1]) != 1 || !mxIsChar(prhs[1])) {
	mexErrMsgTxt("The second rhs argument has to be a string.");
    }
    // Build the temporary remoteHost string
    addr = new char[13 + mxGetN(prhs[1])];
    strcpy(addr, "-remoteHost ");
    mxGetString(prhs[1], addr + 12, mxGetN(prhs[1]) + 1);
    builder.add(addr);

    // Destroy any existing connection to this robot
    robot = Aria::findRobot(addr);
    if(robot) {
        for (i = 0; i < MAX_ROBOTS; i++) {
	    if (cnxTable[i].robot == robot) {
		mexPrintf("disconnecting stale connection %d\n", i);
		cnxTable[i].robot->stopRunning();
		delete cnxTable[i].robot;
		delete cnxTable[i].connector;
		cnxTable[i].robot = NULL;
		break;
	    }
	}
    }
	
    connector = new ArSimpleConnector(&builder);
    robot = new ArRobot(addr);
    delete [] addr;

    if (!connector->parseArgs()) {
	delete robot;
	delete connector;
	mexErrMsgTxt("parseArgs failed");
    }
    robot->addRangeDevice(new ArSonarDevice());

    ///////////////////////
    robot->addRangeDevice(&sick);
    ///////////////////////

    if (!connector->connectRobot(robot)) {
	delete robot;
	delete connector;
	mexErrMsgTxt("connection failed");
    }
    robot->comInt(ArCommands::SOUNDTOG, 0);
    robot->comInt(ArCommands::SONAR, 1); 
    robot->comInt(ArCommands::ENABLE, 1);

    robot->setAbsoluteMaxTransVel(200);
    robot->setAbsoluteMaxRotVel(50);

    robot->runAsync(true);

    //////////////////////////
    connector->setupLaser(&sick);
    sick->runAsync();			
    /////////////////////////

    // Add to the connection table
    for(i = 0; i < MAX_ROBOTS; i++) {
	if (cnxTable[i].robot == NULL) {
	    cnxTable[i].robot = robot;
	    cnxTable[i].connector = connector;
	    break;
	}
    }
    plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
    *((double *)mxGetPr(plhs[0])) = i;
}
-- 
Psssst! Schon vom neuen GMX MultiMessenger geh?rt? Der kann`s mit allen:
http://www.gmx.net/de/go/multimessenger
_______________________________________________
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


--------------------------------------------------------------------
mail2web.com ? Enhanced email for the mobile individual based on Microsoft?
Exchange - http://link.mail2web.com/Personal/EnhancedEmail



From reed at mobilerobots.com  Mon Nov 24 10:45:05 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Mon, 24 Nov 2008 10:45:05 -0500
Subject: [Aria-users] Using Aria in MFC Applications
In-Reply-To: <221473.22962.qm@web56208.mail.re3.yahoo.com>
References: <221473.22962.qm@web56208.mail.re3.yahoo.com>
Message-ID: <492ACC01.7070501@mobilerobots.com>

Hemin Sh.Aumer wrote:
> Hello Aria-Users,
> Any body has every tried to use Aria with MFC applications? Why there 
> are conflicts between area and MFC? when Aria.h included in an MFC 
> application error appear such as "error C3861: 'timeGetTime': identifier 
> not found".!!
> Any ideas where exactly Aria headers should be located and included?
>  

Hi, try adding

#include <mmsystem.h>

To the top of ariaUtil.cpp.  It sounds like for some reason MFC or a compiler 
option is preventing the declaration of timeGetTime() from being included elsewhere.

(You may also have to #include <windows.h> before mmsystem.h.)

Or add these to the top of your program if you don't want to modify ARIA.

If this work for you I can make the change permanent in ARIA for the next release.

Reed


From luxionghui at gmail.com  Mon Nov 24 21:17:25 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 24 Nov 2008 21:17:25 -0500
Subject: [Aria-users] Fwd: Fwd: Anybody knows how Aria calculates velocity
	and accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811211541y5836ec85y7e9c664c52cdcfd4@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
	<491A3091.4030008@mobilerobots.com>
	<491A370C.4080806@mobilerobots.com>
	<70655cbf0811211541y5836ec85y7e9c664c52cdcfd4@mail.gmail.com>
Message-ID: <70655cbf0811241817h14841ed4j1299697225471291@mail.gmail.com>

 I have a question, since we are doing control research for robot, so we
want to know exactly how much current acceleration value is, so I intend to
calculate that based on velocity reading( from encoder). Here is the
problem, I noticed that whenever I change the acceleration value and in the
same time ask the robot to speed up to a desired new velocity under this
acceleration value, I see big jerk happens (see attached picture, ignore the
first figure, the second figure is comparison of setting acceleration value
and calculated acceleration value (derivative encoder reading velocity)). We
can see huge jump when the robot is changing acceleration value. (I set
accel to 10 at 0-2 sec, 50 (2-4sec), -40(4-6sec), and 10(6-8sec)) , which is
undesirable. SO could you give me some clue how to avoid of reduce this
phenomenon? I tried change acceleration value gradually, but it gets worsen.
Thanks very much!
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From luxionghui at gmail.com  Mon Nov 24 21:32:58 2008
From: luxionghui at gmail.com (Xionghui Lu)
Date: Mon, 24 Nov 2008 21:32:58 -0500
Subject: [Aria-users] Fwd: Anybody knows how Aria calculates velocity
	and accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811241817h14841ed4j1299697225471291@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>
	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>
	<491A3091.4030008@mobilerobots.com>
	<491A370C.4080806@mobilerobots.com>
	<70655cbf0811211541y5836ec85y7e9c664c52cdcfd4@mail.gmail.com>
	<70655cbf0811241817h14841ed4j1299697225471291@mail.gmail.com>
Message-ID: <70655cbf0811241832t5486ccd6x70dc1ca684b58dd7@mail.gmail.com>

that is, how to apply a hard limiter to jerk(derivative of acceleration)?
thanks.

On Mon, Nov 24, 2008 at 9:17 PM, Xionghui Lu <luxionghui at gmail.com> wrote:

>   I have a question, since we are doing control research for robot, so we
> want to know exactly how much current acceleration value is, so I intend to
> calculate that based on velocity reading( from encoder). Here is the
> problem, I noticed that whenever I change the acceleration value and in the
> same time ask the robot to speed up to a desired new velocity under this
> acceleration value, I see big jerk happens (see attached picture, ignore the
> first figure, the second figure is comparison of setting acceleration value
> and calculated acceleration value (derivative encoder reading velocity)). We
> can see huge jump when the robot is changing acceleration value. (I set
> accel to 10 at 0-2 sec, 50 (2-4sec), -40(4-6sec), and 10(6-8sec)) , which is
> undesirable. SO could you give me some clue how to avoid of reduce this
> phenomenon? I tried change acceleration value gradually, but it gets worsen.
> Thanks very much!
>
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From joe.sfeir at gmail.com  Tue Nov 25 01:44:02 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Tue, 25 Nov 2008 02:44:02 -0400
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
	<9AC58C9A89B64175B781527B94D30B56@mjdell>
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>
Message-ID: <6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>

I am using a P3AT for navigation. I use ARIA to execute my algorithm. I am
having a few problems regarding obstacle detection: I only use sonars. And
the readings are very, very noisy! is there a way to get cleaner readings?
is there an averaging function integrated or something? or if you know a way
of treating the signal to clean it?

Also, if I want to use the LRF: the robot has an onboard computer, but I am
not using it. the LRF doesn't seem to get power when then onboard computer
is OFF. Is there a way I can give power to the LRF through ARIA from my
client computer? maybe if I connect directly to the aux power? and if so,
how can I connect to it and get its readings?

If you have other suggestions on detecting obstacles cleanly and easily,
don't hesitate :)

Thanks for your help!

Joe.

---------- Forwarded message ----------
From: Joe Sfeir <joe.sfeir at gmail.com>
Date: Thu, Nov 20, 2008 at 11:35 PM
Subject: Re: [Aria-users] Sonar readings and LRF
To: Matthew Johnson <mjohnson at ihmc.us>


Matt,

Thanks for your input. Waiting for ActivMedia's info...

Joe.


On Thu, Nov 20, 2008 at 11:28 AM, Matthew Johnson <mjohnson at ihmc.us> wrote:

>  Joe,
>
>
>
> Welcome to the world of sonar.  It is notoriously noisy and inaccurate.
>  You can filter some, but it won't help much.  LRF is a reasonable
> solution.  LRF significantly better than sonar.  If you have one?use it.
>  You can power it directly from the AUX.  I will let the ActivMedia folks
> fill in how to get readings.
>
>
>
> Matt
>
>
>
>
>  ------------------------------
>
> *From:* aria-users-bounces at lists.mobilerobots.com [mailto:
> aria-users-bounces at lists.mobilerobots.com] *On Behalf Of *Joe Sfeir
> *Sent:* Thursday, November 20, 2008 9:18 AM
> *To:* aria-users at mobilerobots.com
> *Subject:* [Aria-users] Sonar readings and LRF
>
>
>
> Hi,
>
>
>
> I am using a P3AT for navigation. I use ARIA to execute my algorithm. I am
> having a few problems regarding obstacle detection: I only use sonars. And
> the readings are very, very noisy! is there a way to get cleaner readings?
> is there an averaging function integrated or something? or if you know a way
> of treating the signal to clean it?
>
>
>
> Also, if I want to use the LRF: the robot has an onboard computer, but I am
> not using it. the LRF doesn't seem to get power when then onboard computer
> is OFF. Is there a way I can give power to the LRF through ARIA from my
> client computer? maybe if I connect directly to the aux power? and if so,
> how can I connect to it and get its readings?
>
>
>
> If you have other suggestions on detecting obstacles cleanly and easily,
> don't hesitate :)
>
>
>
> Thanks for your help!
>
>
>
> Joe.
>
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From joe.sfeir at gmail.com  Tue Nov 25 02:01:02 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Tue, 25 Nov 2008 03:01:02 -0400
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <492BA1EF.9090709@iiit.ac.in>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
	<9AC58C9A89B64175B781527B94D30B56@mjdell>
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>
	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>
	<492BA1EF.9090709@iiit.ac.in>
Message-ID: <6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>

Thanks for the article, I'll look into it to improve my results.

Do you have an idea on how I can connect to and get the laser range finder
readings?

Thanks.

On Tue, Nov 25, 2008 at 2:57 AM, Madhava Krishna <mkrishna at iiit.ac.in>wrote:

> Sonars have that problem, there's no easy way out. I am sending our IJCAI
> paper of ours so that you get an idea
>
> Madhav
>
> Joe Sfeir wrote:
>
>  I am using a P3AT for navigation. I use ARIA to execute my algorithm. I
>> am having a few problems regarding obstacle detection: I only use sonars.
>> And the readings are very, very noisy! is there a way to get cleaner
>> readings? is there an averaging function integrated or something? or if you
>> know a way of treating the signal to clean it?
>>  Also, if I want to use the LRF: the robot has an onboard computer, but I
>> am not using it. the LRF doesn't seem to get power when then onboard
>> computer is OFF. Is there a way I can give power to the LRF through ARIA
>> from my client computer? maybe if I connect directly to the aux power? and
>> if so, how can I connect to it and get its readings?
>>  If you have other suggestions on detecting obstacles cleanly and easily,
>> don't hesitate :)
>>  Thanks for your help!
>>  Joe.
>>
>> ---------- Forwarded message ----------
>> From: *Joe Sfeir* <joe.sfeir at gmail.com <mailto:joe.sfeir at gmail.com>>
>> Date: Thu, Nov 20, 2008 at 11:35 PM
>> Subject: Re: [Aria-users] Sonar readings and LRF
>> To: Matthew Johnson <mjohnson at ihmc.us <mailto:mjohnson at ihmc.us>>
>>
>>
>> Matt,
>>  Thanks for your input. Waiting for ActivMedia's info...
>>
>> Joe.
>>   On Thu, Nov 20, 2008 at 11:28 AM, Matthew Johnson <mjohnson at ihmc.us<mailto:
>> mjohnson at ihmc.us>> wrote:
>>
>>    Joe,
>>
>>
>>    Welcome to the world of sonar.  It is notoriously noisy and
>>    inaccurate.  You can filter some, but it won't help much.  LRF is
>>    a reasonable solution.  LRF significantly better than sonar.  If
>>    you have one?use it.  You can power it directly from the AUX.  I
>>    will let the ActivMedia folks fill in how to get readings.
>>
>>
>>    Matt
>>
>>
>>
>>
>>  ------------------------------------------------------------------------
>>
>>    *From:* aria-users-bounces at lists.mobilerobots.com
>>    <mailto:aria-users-bounces at lists.mobilerobots.com>
>>    [mailto:aria-users-bounces at lists.mobilerobots.com
>>    <mailto:aria-users-bounces at lists.mobilerobots.com>] *On Behalf Of
>>    *Joe Sfeir
>>    *Sent:* Thursday, November 20, 2008 9:18 AM
>>    *To:* aria-users at mobilerobots.com <mailto:aria-users at mobilerobots.com>
>>
>>    *Subject:* [Aria-users] Sonar readings and LRF
>>
>>
>>    Hi,
>>
>>
>>    I am using a P3AT for navigation. I use ARIA to execute my
>>    algorithm. I am having a few problems regarding obstacle
>>    detection: I only use sonars. And the readings are very, very
>>    noisy! is there a way to get cleaner readings? is there an
>>    averaging function integrated or something? or if you know a way
>>    of treating the signal to clean it?
>>
>>
>>    Also, if I want to use the LRF: the robot has an onboard computer,
>>    but I am not using it. the LRF doesn't seem to get power when then
>>    onboard computer is OFF. Is there a way I can give power to the
>>    LRF through ARIA from my client computer? maybe if I connect
>>    directly to the aux power? and if so, how can I connect to it and
>>    get its readings?
>>
>>
>>    If you have other suggestions on detecting obstacles cleanly and
>>    easily, don't hesitate :)
>>
>>
>>    Thanks for your help!
>>
>>
>>    Joe.
>>
>>
>>
>> ------------------------------------------------------------------------
>>
>> _______________________________________________
>> 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 enghemin at yahoo.com  Tue Nov 25 13:03:03 2008
From: enghemin at yahoo.com (Hemin Sh.Aumer)
Date: Tue, 25 Nov 2008 10:03:03 -0800 (PST)
Subject: [Aria-users] Yahoo Groups for Aria-users and Pioneer-users
Message-ID: <575305.91146.qm@web56205.mail.re3.yahoo.com>

Aria and Pioneer Fellows;
I have created two yahoo groups for each of Aria users and Pioneer users if you would like to join. We will enjoy the advantage of posting messages and surfing them in the future for future users. I can see that some of the messges in these lists are repeated since we don't access posted messages in the past.
Group homepages:? http://groups.yahoo.com/group/pioneer-users? and http://groups.yahoo.com/group/aria-users

Best Regards


Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk


      
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From lafary at mobilerobots.com  Tue Nov 25 16:14:34 2008
From: lafary at mobilerobots.com (Matt LaFary)
Date: Tue, 25 Nov 2008 16:14:34 -0500
Subject: [Aria-users] Yahoo Groups for Aria-users and Pioneer-users
In-Reply-To: <575305.91146.qm@web56205.mail.re3.yahoo.com>
References: <575305.91146.qm@web56205.mail.re3.yahoo.com>
Message-ID: <492C6ABA.9010906@mobilerobots.com>

There's always been archives and the ability to search the archives for 
both aria-users and pioneer-users since the beginning.  You can get to 
the archives from our support site http://robots.mobilerobots.com. 
We'll see about putting a link for searching the archive into the 
mailing list footer and/or making the archives more obvious somehow.

The easiest way to search the aria-users archive is the search box on: 
http://robots.mobilerobots.com/wiki/Aria-users_Mailing_List

The easiest way to search the pioneer-users archive is the search box on:
http://robots.mobilerobots.com/wiki/Pioneer-users_Mailing_List

I'd also like to remind people that our support site is now a Wiki and 
that you can search it by the box on the left of the support site 
http://robots.mobilerobots.com  We've set up some answers to frequently 
asked questions on it (with more to come) and we've set aside an area 
for users to edit and contribute.  There are more details at: 
http://robots.mobilerobots.com/wiki/Adding_to_this_Site

Thanks,

Matt LaFary
MobileRobots Inc



Hemin Sh.Aumer wrote:
> Aria and Pioneer Fellows;
> I have created two yahoo groups for each of Aria users and Pioneer users if you would like to join. We will enjoy the advantage of posting messages and surfing them in the future for future users. I can see that some of the messges in these lists are repeated since we don't access posted messages in the past.
> Group homepages:  http://groups.yahoo.com/group/pioneer-users  and http://groups.yahoo.com/group/aria-users
> 
> Best Regards
> 
> 
> Hemin Sh. Omer
> Nottingham, UK
> www.hemin.co.uk
> 
> 
> 
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> 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 Nov 25 18:36:26 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 25 Nov 2008 18:36:26 -0500
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>	<9AC58C9A89B64175B781527B94D30B56@mjdell>	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>	<492BA1EF.9090709@iiit.ac.in>
	<6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>
Message-ID: <492C8BFA.4020406@mobilerobots.com>


Hi Joe,

The power to the SICK is switched by the RTS line on the serial 
connection from the onboard computer. If you connect this cable to your 
other computer instead of the onboard computer, it should work. If this 
is how you've connected your other computer and it's not working, 
contact support (support at mobilerobots.com; include your robot's serial 
number) and they can help you troubleshoot.

To connect to the SICK from Aria, use the ArSimpleConnector and ArSick 
classes.  See examples/sickTeleop.cpp or examples/sickRobotExample.cpp 
for an example.

Reed


Joe Sfeir wrote:
> Thanks for the article, I'll look into it to improve my results.
> 
> Do you have an idea on how I can connect to and get the laser range finder
> readings?
> 
> Thanks.
> 
> On Tue, Nov 25, 2008 at 2:57 AM, Madhava Krishna <mkrishna at iiit.ac.in>wrote:
> 
>> Sonars have that problem, there's no easy way out. I am sending our IJCAI
>> paper of ours so that you get an idea
>>
>> Madhav
>>
>> Joe Sfeir wrote:
>>
>>  I am using a P3AT for navigation. I use ARIA to execute my algorithm. I
>>> am having a few problems regarding obstacle detection: I only use sonars.
>>> And the readings are very, very noisy! is there a way to get cleaner
>>> readings? is there an averaging function integrated or something? or if you
>>> know a way of treating the signal to clean it?
>>>  Also, if I want to use the LRF: the robot has an onboard computer, but I
>>> am not using it. the LRF doesn't seem to get power when then onboard
>>> computer is OFF. Is there a way I can give power to the LRF through ARIA
>>> from my client computer? maybe if I connect directly to the aux power? and
>>> if so, how can I connect to it and get its readings?
>>>  If you have other suggestions on detecting obstacles cleanly and easily,
>>> don't hesitate :)
>>>  Thanks for your help!
>>>  Joe.

From reed at mobilerobots.com  Tue Nov 25 18:46:25 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 25 Nov 2008 18:46:25 -0500
Subject: [Aria-users] Fwd: Fwd: Anybody knows how Aria calculates
 velocity and accelleration of the robot based on encoder?
In-Reply-To: <70655cbf0811241817h14841ed4j1299697225471291@mail.gmail.com>
References: <70655cbf0811100857m35ef0c15p15bdcd14f64217ea@mail.gmail.com>	<70655cbf0811100901u77955b0dpfa89c8d428859d09@mail.gmail.com>	<491A3091.4030008@mobilerobots.com>	<491A370C.4080806@mobilerobots.com>	<70655cbf0811211541y5836ec85y7e9c664c52cdcfd4@mail.gmail.com>
	<70655cbf0811241817h14841ed4j1299697225471291@mail.gmail.com>
Message-ID: <492C8E51.9080508@mobilerobots.com>


In your graph, what does each line represent? When you change the 
acceleration value, what new VEL value are you sending?

Also, when you say you set accel to -40, are you actually setting the 
"decel" value to 40 instead (they are separate values)?

Reed


Xionghui Lu wrote:
>  I have a question, since we are doing control research for robot, so we
> want to know exactly how much current acceleration value is, so I intend to
> calculate that based on velocity reading( from encoder). Here is the
> problem, I noticed that whenever I change the acceleration value and in the
> same time ask the robot to speed up to a desired new velocity under this
> acceleration value, I see big jerk happens (see attached picture, ignore the
> first figure, the second figure is comparison of setting acceleration value
> and calculated acceleration value (derivative encoder reading velocity)). We
> can see huge jump when the robot is changing acceleration value. (I set
> accel to 10 at 0-2 sec, 50 (2-4sec), -40(4-6sec), and 10(6-8sec)) , which is
> undesirable. SO could you give me some clue how to avoid of reduce this
> phenomenon? I tried change acceleration value gradually, but it gets worsen.
> Thanks very much!
> 
> 
> 
> ------------------------------------------------------------------------
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> 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 joe.sfeir at gmail.com  Tue Nov 25 22:56:46 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Tue, 25 Nov 2008 23:56:46 -0400
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <492C8BFA.4020406@mobilerobots.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
	<9AC58C9A89B64175B781527B94D30B56@mjdell>
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>
	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>
	<492BA1EF.9090709@iiit.ac.in>
	<6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>
	<492C8BFA.4020406@mobilerobots.com>
Message-ID: <6393b71e0811251956r323044ddv6b56f51d8d4d75c3@mail.gmail.com>

Hi Reed,

You mean it's a physical cable? The other computer is not on the robot; I am
connecting to the robot directly via wireless serial connection. Or is it a
command I send to the microcontroller to activate the line?

How can I keep this line active at all times? can I power it directly from
the Aux power? is it compatible electrically?

Thanks.

Joe.

On Tue, Nov 25, 2008 at 7:36 PM, Reed Hedges <reed at mobilerobots.com> wrote:

>
> Hi Joe,
>
> The power to the SICK is switched by the RTS line on the serial
> connection from the onboard computer. If you connect this cable to your
> other computer instead of the onboard computer, it should work. If this
> is how you've connected your other computer and it's not working,
> contact support (support at mobilerobots.com; include your robot's serial
> number) and they can help you troubleshoot.
>
> To connect to the SICK from Aria, use the ArSimpleConnector and ArSick
> classes.  See examples/sickTeleop.cpp or examples/sickRobotExample.cpp
> for an example.
>
> Reed
>
>
> Joe Sfeir wrote:
> > Thanks for the article, I'll look into it to improve my results.
> >
> > Do you have an idea on how I can connect to and get the laser range
> finder
> > readings?
> >
> > Thanks.
> >
> > On Tue, Nov 25, 2008 at 2:57 AM, Madhava Krishna <mkrishna at iiit.ac.in
> >wrote:
> >
> >> Sonars have that problem, there's no easy way out. I am sending our
> IJCAI
> >> paper of ours so that you get an idea
> >>
> >> Madhav
> >>
> >> Joe Sfeir wrote:
> >>
> >>  I am using a P3AT for navigation. I use ARIA to execute my algorithm. I
> >>> am having a few problems regarding obstacle detection: I only use
> sonars.
> >>> And the readings are very, very noisy! is there a way to get cleaner
> >>> readings? is there an averaging function integrated or something? or if
> you
> >>> know a way of treating the signal to clean it?
> >>>  Also, if I want to use the LRF: the robot has an onboard computer, but
> I
> >>> am not using it. the LRF doesn't seem to get power when then onboard
> >>> computer is OFF. Is there a way I can give power to the LRF through
> ARIA
> >>> from my client computer? maybe if I connect directly to the aux power?
> and
> >>> if so, how can I connect to it and get its readings?
> >>>  If you have other suggestions on detecting obstacles cleanly and
> easily,
> >>> don't hesitate :)
> >>>  Thanks for your help!
> >>>  Joe.
>  _______________________________________________
> 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 reed at mobilerobots.com  Wed Nov 26 09:44:21 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 26 Nov 2008 09:44:21 -0500
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <6393b71e0811251956r323044ddv6b56f51d8d4d75c3@mail.gmail.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>	
	<9AC58C9A89B64175B781527B94D30B56@mjdell>	
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>	
	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>	
	<492BA1EF.9090709@iiit.ac.in>	
	<6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>	
	<492C8BFA.4020406@mobilerobots.com>
	<6393b71e0811251956r323044ddv6b56f51d8d4d75c3@mail.gmail.com>
Message-ID: <492D60C5.3000101@mobilerobots.com>

Joe Sfeir wrote:
> Hi Reed,
>  
> You mean it's a physical cable? The other computer is not on the robot; 

Yes, the SICK is connected to the onboard computer on a separate serial line 
than the robot.  So if you are connecting wirelessly to the robot, you also need 
to set up a separate, similar wireless connection to the SICK.   How is your 
offboard computer connected to the robot? Are you using an ethernet-serial 
bridge device (like these: 
http://robots.mobilerobots.com/wiki/Lantronix_WiBox_ethernet-serial_bridge), or
are you running a program on the onboard computer to relay the connection?

(By the way, if you have an onboard computer we generally recommend using it for 
your primary robot and sensor software, since you get the best performance that 
way and avoid problems from latency etc. on the network.)

Reed


From joe.sfeir at gmail.com  Wed Nov 26 09:53:37 2008
From: joe.sfeir at gmail.com (Joe Sfeir)
Date: Wed, 26 Nov 2008 10:53:37 -0400
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <492D60C5.3000101@mobilerobots.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>
	<9AC58C9A89B64175B781527B94D30B56@mjdell>
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>
	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>
	<492BA1EF.9090709@iiit.ac.in>
	<6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>
	<492C8BFA.4020406@mobilerobots.com>
	<6393b71e0811251956r323044ddv6b56f51d8d4d75c3@mail.gmail.com>
	<492D60C5.3000101@mobilerobots.com>
Message-ID: <6393b71e0811260653u6a8b07e4rabd12ea668a2db0f@mail.gmail.com>

I see...

I am using a blue tooth air cable to connect the robot to the offboard
computer... So I guess I have to do the same type of connection to a
different port on my computer...

I am bypassing the onboard computer because it operates on linux, but I am
using a tool on the client computer that is developed on windows... And I
never worked with linux... so I can't really use the onboard computer...

Thanks for your help!

Joe.

On Wed, Nov 26, 2008 at 10:44 AM, Reed Hedges <reed at mobilerobots.com> wrote:

> Joe Sfeir wrote:
> > Hi Reed,
> >
> > You mean it's a physical cable? The other computer is not on the robot;
>
> Yes, the SICK is connected to the onboard computer on a separate serial
> line
> than the robot.  So if you are connecting wirelessly to the robot, you also
> need
> to set up a separate, similar wireless connection to the SICK.   How is
> your
> offboard computer connected to the robot? Are you using an ethernet-serial
> bridge device (like these:
> http://robots.mobilerobots.com/wiki/Lantronix_WiBox_ethernet-serial_bridge),
> or
> are you running a program on the onboard computer to relay the connection?
>
> (By the way, if you have an onboard computer we generally recommend using
> it for
> your primary robot and sensor software, since you get the best performance
> that
> way and avoid problems from latency etc. on the network.)
>
> 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
>
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From reed at mobilerobots.com  Wed Nov 26 10:02:33 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 26 Nov 2008 10:02:33 -0500
Subject: [Aria-users] Sonar readings and LRF
In-Reply-To: <6393b71e0811260653u6a8b07e4rabd12ea668a2db0f@mail.gmail.com>
References: <6393b71e0811200718h2ebee016ldad4ff991a8a9c23@mail.gmail.com>	
	<9AC58C9A89B64175B781527B94D30B56@mjdell>	
	<6393b71e0811201935s41b3bfe8w5545096112b5b9d5@mail.gmail.com>	
	<6393b71e0811242244s2cb6bce3y4d2c97af8798efd2@mail.gmail.com>	
	<492BA1EF.9090709@iiit.ac.in>	
	<6393b71e0811242301l71c7ac55r6bdfdb3b79141aff@mail.gmail.com>	
	<492C8BFA.4020406@mobilerobots.com>	
	<6393b71e0811251956r323044ddv6b56f51d8d4d75c3@mail.gmail.com>	
	<492D60C5.3000101@mobilerobots.com>
	<6393b71e0811260653u6a8b07e4rabd12ea668a2db0f@mail.gmail.com>
Message-ID: <492D6509.9050505@mobilerobots.com>

Joe Sfeir wrote:
> I see...
>  
> I am using a blue tooth air cable to connect the robot to the offboard 
> computer... So I guess I have to do the same type of connection to a 
> different port on my computer...

In ARIA programs, you can give a TCP port for the laser connection using the 
-remoteLaserTcpPort command line argument.

Reed



From srady at rumms.uni-mannheim.de  Sat Nov 29 08:43:39 2008
From: srady at rumms.uni-mannheim.de (sherine)
Date: Sat, 29 Nov 2008 14:43:39 +0100
Subject: [Aria-users] Motion control problem
Message-ID: <4931470B.4020004@rumms.uni-mannheim.de>

Hello!

I am trying to write a simple program to move the robot a meter 
forwards, turn back 180 degrees, then move one meter through the 
following code..However the robot doesn t move, and I get the following 
error: ArRobotPacketReceiver::receivePacket: bad packet, bad checksum. I 
get this message after connecting with the robot.

Is there something wrong in the code? I ve included the code as a whole, 
may be there is something i  miss in the ordering of methods' call!

p.s. By the way, any help on the difference between the 3 
'ArSimpleConnector' constructors?!

Regards,
Sherine

//CODE

int _tmain(int argc, char* argv[])
{
  Aria::init();
  ArRobot robot;

        ArKeyHandler keyHandler;
        Aria::setKeyHandler(&keyHandler);
        robot.attachKeyHandler(&keyHandler);

        ArSimpleConnector connector(&argc, argv);
        connector.parseArgs();

        if (argc > 1)
        {
            connector.logOptions();
            exit(1);
        }             

        // try to connect, if fail exit

        if (!connector.connectRobot(&robot))

        {
            printf("Could not connect to robot... exiting\n");
            Aria::shutdown();
            return 1;
        }

 
        robot.comInt(ArCommands::ENABLE, 1); 

        robot.setHeading(0);
        ArUtil::sleep(5000);
        robot.move(1000);
        ArUtil::sleep(5000);
        robot.setHeading(180);
        ArUtil::sleep(5000);
        robot.move(1000);
         

        Aria::exit(0);

      }

 

 

 

 

 

 

 

 


From enghemin at yahoo.com  Sat Nov 29 09:00:43 2008
From: enghemin at yahoo.com (Hemin Sh.Aumer)
Date: Sat, 29 Nov 2008 06:00:43 -0800 (PST)
Subject: [Aria-users] Motion control problem
References: <4931470B.4020004@rumms.uni-mannheim.de>
Message-ID: <17351.171.qm@web56201.mail.re3.yahoo.com>

Hi,
You've missed to enable the motors and run the robot...
Modify your code as this... see colored code added.... and try it again....

?int _tmain(int argc, char* argv[])
{
? Aria::init();
? ArRobot robot;

? ? ? ? ArKeyHandler keyHandler;
? ? ? ? Aria::setKeyHandler(&keyHandler);
? ? ? ? robot.attachKeyHandler(&keyHandler);

? ? ? ? ArSimpleConnector connector(&argc, argv);
? ? ? ? connector.parseArgs();

? ? ? ? if (argc > 1)
? ? ? ? {
? ? ? ? ? ? connector.logOptions();
? ? ? ? ? ? exit(1);
? ? ? ? }? ? ? ? ? ? 

? ? ? ? // try to connect, if fail exit

? ? ? ? if (!connector.connectRobot(&robot))

? ? ? ? {
? ? ? ? ? ? printf("Could not connect to robot... exiting\n");
? ? ? ? ? ? Aria::shutdown();
? ? ? ? ? ? return 1;
? ? ? ? }


? ? ? ? robot.comInt(ArCommands::ENABLE, 1); 
??? ??? 
??? ??? ??? robot.enableMotors();???????robot.runAsync(true);
??????? robot.setHeading(0);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.move(1000);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.setHeading(180);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.move(1000);
? ? ? ? 

? ? ? ? Aria::exit(0);

? ? ? }

Hemin Sh. Omer
Nottingham, UK
www.hemin.co.uk
?




________________________________
From: sherine <srady at rumms.uni-mannheim.de>
To: Aria-users at lists.mobilerobots.com
Sent: Saturday, November 29, 2008 1:43:39 PM
Subject: [Aria-users] Motion control problem

Hello!

I am trying to write a simple program to move the robot a meter 
forwards, turn back 180 degrees, then move one meter through the 
following code..However the robot doesn t move, and I get the following 
error: ArRobotPacketReceiver::receivePacket: bad packet, bad checksum. I 
get this message after connecting with the robot.

Is there something wrong in the code? I ve included the code as a whole, 
may be there is something i? miss in the ordering of methods' call!

p.s. By the way, any help on the difference between the 3 
'ArSimpleConnector' constructors?!

Regards,
Sherine

//CODE

int _tmain(int argc, char* argv[])
{
? Aria::init();
? ArRobot robot;

? ? ? ? ArKeyHandler keyHandler;
? ? ? ? Aria::setKeyHandler(&keyHandler);
? ? ? ? robot.attachKeyHandler(&keyHandler);

? ? ? ? ArSimpleConnector connector(&argc, argv);
? ? ? ? connector.parseArgs();

? ? ? ? if (argc > 1)
? ? ? ? {
? ? ? ? ? ? connector.logOptions();
? ? ? ? ? ? exit(1);
? ? ? ? }? ? ? ? ? ? 

? ? ? ? // try to connect, if fail exit

? ? ? ? if (!connector.connectRobot(&robot))

? ? ? ? {
? ? ? ? ? ? printf("Could not connect to robot... exiting\n");
? ? ? ? ? ? Aria::shutdown();
? ? ? ? ? ? return 1;
? ? ? ? }


? ? ? ? robot.comInt(ArCommands::ENABLE, 1); 

? ? ? ? robot.setHeading(0);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.move(1000);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.setHeading(180);
? ? ? ? ArUtil::sleep(5000);
? ? ? ? robot.move(1000);
? ? ? ? 

? ? ? ? Aria::exit(0);

? ? ? }

















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Aria-users at lists.mobilerobots.com
http://lists.mobilerobots.com/mailman/listinfo/aria-users

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