From mark.villela at honeywell.com Wed Oct 1 14:23:44 2008 From: mark.villela at honeywell.com (Villela, Mark (AZ76)) Date: Wed, 1 Oct 2008 14:23:44 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <48E27D20.3040503@mobilerobots.com> References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com><48E23994.8080600@mobilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com> <48E27D20.3040503@mobilerobots.com> Message-ID: <185D4C2D7574EA42B3F5B3CF78B1B94F01ADCF40@DE08EV802.global.ds.honeywell.com> Hi, Reed. Yes, we have an imbedded Linux application that receives RS-232 SIPs and eventually forwards these SIPs to DEMO.EXE using TCP/IP. The autonomy is the standard DEMO.EXE application that came with the robot, with no modifications. We just found a configuration error in our custom application where all packet data containing 0x0D where converted to 0x0A, so that may explain some of the problems for now. Are there any plans to upgrade the microcontroller on the P3-ATs to communicate natively through Ethernet? Thanks, Mark Villela -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, September 30, 2008 12:25 PM To: Aria Users Mailing List Subject: Re: [Aria-users] Packet Drops using DEMO.EXE Villela, Mark (AZ76) wrote: > I have an application where I am processing robot SIPs and sending 2 or > more concatenated SIPs to ARIA (same TCP/IP packet); however it appears > that DEMO.EXE is not parsing these appropriately and is returning "bad > packets" and "bad checksum" messages. Can you confirm that these is the > expected behavior from DEMO.EXE? So it sounds like you have a program on the robot which is reading the SIPs over the serial connection, and rewriting them to a TCP socket, sent over the network to a second program that is reading them with ARIA (ArTCPConnection)? When you receive the SIPs and re-package them for TCP transmission, you can check the checksum. Are you using ArRobotPacketReceiver for that initial reception of the SIPs, if so it will verify the checksums. An occasional bad checksum is not a big deal, this can be due to noise on the serial cable. Another cause is a problem in the receiving serial hardware and/or operating system (buffer overrun or whatever, perhaps triggered by some kind of hangup that delays the end program from reading the SIPs). How are you concatenating the packets sent from the first program to the second? Are you explicitly putting two in a buffer and using sendto() or sendmsg() or similar? Are you doing any processing or changing of values in those SIPs? 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 reed at mobilerobots.com Wed Oct 1 14:36:24 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 01 Oct 2008 14:36:24 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <185D4C2D7574EA42B3F5B3CF78B1B94F01ADCF40@DE08EV802.global.ds.honeywell.com> References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com><48E23994.8080600@mobilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com> <48E27D20.3040503@mobilerobots.com> <185D4C2D7574EA42B3F5B3CF78B1B94F01ADCF40@DE08EV802.global.ds.honeywell.com> Message-ID: <48E3C328.40302@mobilerobots.com> Villela, Mark (AZ76) wrote: > Are there any plans to upgrade the microcontroller on the P3-ATs to > communicate natively through Ethernet? No, but we sell this device, which does basically the same thing as it sounds like your bridge is doing: http://robots.mobilerobots.com/wiki/Lantronix_WiBox_ethernet-serial_bridge Reed From mark.villela at honeywell.com Wed Oct 1 20:05:56 2008 From: mark.villela at honeywell.com (Villela, Mark (AZ76)) Date: Wed, 1 Oct 2008 20:05:56 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <48E3C328.40302@mobilerobots.com> References: DEFANGED[11]:<14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com><48E23994.8080600@mobilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com><48E27D20.3040503@m " " obilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADCF40@DE08EV802.global.ds.honeywell.com> <48E3C328.40302@mobilerobots.com> Message-ID: <185D4C2D7574EA42B3F5B3CF78B1B94F01B0C17A@DE08EV802.global.ds.honeywell.com> We've used similar devices like that in the past, but we are now moving towards a deterministic system. At this time we are using what we believe is the first deterministic Wi-Fi developed. We had some issues with the concatenated SIP packets (as part of a single Ethernet packet), but now that we are forcing separate SIP packets per Ethernet packet, the system appears to be very robust. Best regards, Mark Villela -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Wednesday, October 01, 2008 11:36 AM To: Aria Users Mailing List Subject: Re: [Aria-users] Packet Drops using DEMO.EXE Villela, Mark (AZ76) wrote: > Are there any plans to upgrade the microcontroller on the P3-ATs to > communicate natively through Ethernet? No, but we sell this device, which does basically the same thing as it sounds like your bridge is doing: http://robots.mobilerobots.com/wiki/Lantronix_WiBox_ethernet-serial_brid ge 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 reed at mobilerobots.com Thu Oct 2 10:44:39 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 02 Oct 2008 10:44:39 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <185D4C2D7574EA42B3F5B3CF78B1B94F01B0C17A@DE08EV802.global.ds.honeywell.com> References: DEFANGED[346]:<14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com><48E23994.8080600@mobilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com><48E27D20.3040503@m " " obilerobots.com><185D4C2D7574EA42B3F5B3CF78B1B94F01ADCF40@DE08EV802.global.ds.honeywell.com> <48E3C328.40302@mobilerobots.com> <185D4C2D7574EA42B3F5B3CF78B1B94F01B0C17A@DE08EV802.global.ds.honeywell.com> Message-ID: <48E4DE57.4070002@mobilerobots.com> Villela, Mark (AZ76) wrote: > We've used similar devices like that in the past, but we are now moving > towards a deterministic system. At this time we are using what we > believe is the first deterministic Wi-Fi developed. Interesting, what do you mean by deterministic, do you mean that you are controlling the timing of packets more carefully than TCP does? The best way to control the robot (in our recommendation) is with an onboard computer (and using the network for higher level communications or user commands). Reed From khoanqv at yahoo.com.vn Sat Oct 4 20:01:32 2008 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Sun, 5 Oct 2008 07:01:32 +0700 (ICT) Subject: [Aria-users] P3-AT Message-ID: <603762.90607.qm@web76011.mail.sg1.yahoo.com> Hello; I'm using visual C++ to program for my P3-AT robot. But I always failed when compile my codes even your examples. Please help me step by step and explain the sentence below in readme.txt: "Visual Studio c++ 8 (2005) is not compatible with previous versions, so to use version 8, you must rebuild all ARIA libraries. You must also install the seperate Platform SDK, and add its include and lib directories to VC8's includes and libraries directories in Options. " Thank a lot --------------------------------- H? tr? T?m ki?m nay ?? c? tr?n Yahoo! Thanh c?ng c?. T?i ngay. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081005/8250bc07/attachment.html From mmiskon at monash.edu.au Mon Oct 6 02:11:42 2008 From: mmiskon at monash.edu.au (Fahmi Miskon) Date: Mon, 06 Oct 2008 16:11:42 +1000 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <48E3C328.40302@mobilerobots.com> Message-ID: <20081006061143.923AA4FB0A@moe.its.monash.edu.au> Hi guys, I reconfigure my VC++ environment recently due to virus attack :( When I run my program, it get stuck at .. If (!simpleConnector.connectRobot(&robot)){ Printf("Could not connect to robot.. exiting\n"); Aria::shutdown(); } It says 'Unhandled exception in ..: 0xC0000005: Access violation' It stops at add 40490000. Does this have anything to do with the environment setting? I'm using Aria 4.2.1 and a pioneer 3 mobile robot. Thanks. Regards, Fahmi ECSE Postgraduate, Monash Univ., Australia. From reed at mobilerobots.com Mon Oct 6 08:27:37 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 06 Oct 2008 08:27:37 -0400 Subject: [Aria-users] P3-AT In-Reply-To: <603762.90607.qm@web76011.mail.sg1.yahoo.com> References: <603762.90607.qm@web76011.mail.sg1.yahoo.com> Message-ID: <48EA0439.2010900@mobilerobots.com> Hello, le duy khoa wrote: > Hello; > I'm using visual C++ to program for my P3-AT robot. But I always failed > when compile my codes even your examples. What are the errors that you get? How are you compiling (what project/solution file, what steps, etc.) > Please help me step by step > and explain the sentence below in readme.txt: > "Visual Studio c++ 8 (2005) is not compatible with previous versions, > so to use version 8, you must rebuild all ARIA libraries. You must also > install the seperate Platform SDK, and add its include and lib directories > to VC8's includes and libraries directories in Options. " > Thank a lot When you install ARIA (or receive a robot with ARIA preinstalled), it contains ARIA.dll (and other DLL's) in the "bin" directory and ARIA.lib (and other libraries) in the "lib" directory. These were built with Visual Studio 2003. Unfortunately, libraries and programs built with 2003 cannot usually be used with libraries or programs built with Visual Studio 2005 or any other version of Visual Studio. So you must open ARIA.sln using your version (2005), select "Debug" configuration, choose "Rebuild Solution", then select "Relesae" configuration, and again choose "Rebuild Solution", to rebuild everything. Then ARIA.dll and ARIA.lib and AriaDebug.dll and AriaDebug.lib will all work with that version of Visual Studio. Does this help? Reed From reed at mobilerobots.com Mon Oct 6 08:29:44 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 06 Oct 2008 08:29:44 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <20081006061143.923AA4FB0A@moe.its.monash.edu.au> References: <20081006061143.923AA4FB0A@moe.its.monash.edu.au> Message-ID: <48EA04B8.2070405@mobilerobots.com> Hi, I don't know why that would happen. Can you build your program in Debug mode (with debugging options turned on), and link to AriaDebug.lib and AriaDebug.dll? Then you can run the program in the debugger or enter the debugger when it crashes and see the function call stack. Do the standard ARIA example programs in "examples" work? Reed Fahmi Miskon wrote: > Hi guys, > > I reconfigure my VC++ environment recently due to virus attack :( > When I run my program, it get stuck at .. > > If (!simpleConnector.connectRobot(&robot)){ > Printf("Could not connect to robot.. exiting\n"); > Aria::shutdown(); > } > > It says 'Unhandled exception in ..: 0xC0000005: Access violation' > It stops at add 40490000. > > Does this have anything to do with the environment setting? > > I'm using Aria 4.2.1 and a pioneer 3 mobile robot. > > Thanks. > > Regards, > > Fahmi > ECSE Postgraduate, > Monash Univ., > Australia. > From wjxnet_126 at 126.com Mon Oct 6 10:34:46 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Mon, 6 Oct 2008 22:34:46 +0800 (CST) Subject: [Aria-users] How to describe Pioneer 3-AT's motions which can slip? Message-ID: <32105482.689161223303686748.JavaMail.coremail@bj126app101.126.com> Hello,everyone! As Reed told that the Pioneer3-AT is a skid steer robot, and the wheels must SLIP over the ground for it to rotate. Now i am wondering whether the following dyanmics really describles AT's motions: The kinematic model of the mobile robot can be written as: \begin{equation} \dot x = v \cos \theta \\ \dot y = v \cos \theta \\ \dot \theta = w \end{equation} where the triple $(x,y,\theta)$ denotes the position and the orientation of the the vehicle in the inertial frame, $v,\w$ are the linear and angular velocities of the mobile robot. The above equaiton implies the velocity level nonholonomic constraint or NON-Slip condition, which can be represented by $$ \dot x \sin \theta - \dot y \cos \theta=0. $$ Maybe i am a bit mixed, thanks for your advice! Jianxin Wu -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081006/120a3eb8/attachment.html From gururaj.kosuru at gmail.com Mon Oct 6 16:57:18 2008 From: gururaj.kosuru at gmail.com (gururaj kosuru) Date: Tue, 7 Oct 2008 02:27:18 +0530 Subject: [Aria-users] REG: GetXPos Problems In-Reply-To: References: Message-ID: Hello. I am a student working with a Pioneer P3-DX. I have a working simulation using player and stage. After moving the robot using the program below, the robot gives a valid reading of GetXPos() in the same program.However, when this program is exited and another program queries GetXPos(), the result is always zero with P3-DX. However, the simulation with stage works fine. Kindly Help. -------------------------------------------------------------------------------------------------------------------------------- #include #include #include #include int main(int argc, char *argv[]) { using namespace PlayerCc; PlayerClient robot("localhost"); Position2dProxy pp(&robot,1/*PLAYER_OPEN_MODE*/); float x=atof(argv[1]),y=atof(argv[2]),a=atof(argv[3]); robot.StartThread(); robot.Read(); pp.RequestGeom(); std::cout<<"X y t"< References: Message-ID: <00cd01c928f9$000c1790$002446b0$@edu.au> Unsubscribe -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081008/a3d2e830/attachment.html From reed at mobilerobots.com Wed Oct 8 09:25:20 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 08 Oct 2008 09:25:20 -0400 Subject: [Aria-users] measure the decibels with ArSpeech In-Reply-To: References: Message-ID: <48ECB4C0.4010401@mobilerobots.com> Jose perez cara wrote: > Hello. I am working with ARIA and arspeech-sphinx. I would like to know > if there is any way to measure the decibels that is the sound you are > recording the robot. Is to detect when the human being screaming. Hello, sorry for the delay. ArSphinx does not currently record the level of the input audio associated with detected speech (a result). You can modify ArSphinx if you want to. In ArSphinx.cpp is a function runThread(), this is the main processing loop. This loop calls cont_ad_read(), and if it recorded sound above its calibrated silence threshhold, it processes this data with the speech recognizer (uttproc_rawdata()), and then enters a new loop (while (getRunningWithLock()) that calls cont_ad_read() until the end of the utterance is detected. The resulting recorded audio samples from cont_ad_read() are in the 'adbuf' buffer, and some more information is in the 'cont' structure as well. You could look at the values in this buffer to calculate level (I don't know if cont_ad_read does any kind of processing of these, so I don't know how to map them to exact decibels, but you can look at the documentation and source code of sphinx to find out). The header files, docs, code for Sphinx2 are in the internalLibs subdirectory. Let us know if you are able to do this and have any suggestion for making it easier to do, or if you want me to add your method into ArSphinx for future versions. Reed From Muhammad.Miskon at eng.monash.edu.au Wed Oct 8 21:38:21 2008 From: Muhammad.Miskon at eng.monash.edu.au (Muhammad Miskon) Date: Thu, 09 Oct 2008 12:38:21 +1100 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <48EA04B8.2070405@mobilerobots.com> References: <20081006061143.923AA4FB0A@moe.its.monash.edu.au> <48EA04B8.2070405@mobilerobots.com> Message-ID: Hi Reed, I've solve my problem. I use VC++ ver 6, so as a result I need to use aria.dll and all other related files which is intended specifically for that version. I just copy all files and folders and more importantly the aria.dll files that I used before I format my computer and it works perfectly like before. Lesson to be learned. It is important to also backup our settings, or if possible, backup the whole drive and not just the data. Thank you all. Regards, Fahmi ----- Original Message ----- From: Reed Hedges Date: Monday, October 6, 2008 11:29 pm Subject: Re: [Aria-users] Packet Drops using DEMO.EXE Cc: 'Aria Users Mailing List' > > Hi, I don't know why that would happen. Can you build your > program in Debug > mode (with debugging options turned on), and link to AriaDebug.lib > and > AriaDebug.dll? Then you can run the program in the debugger or > enter the > debugger when it crashes and see the function call stack. Do the > standard ARIA > example programs in "examples" work? > > Reed > > > Fahmi Miskon wrote: > > Hi guys, > > > > I reconfigure my VC++ environment recently due to virus attack :( > > When I run my program, it get stuck at .. > > > > If (!simpleConnector.connectRobot(&robot)){ > > Printf("Could not connect to robot.. exiting\n"); > > Aria::shutdown(); > > } > > > > It says 'Unhandled exception in ..: 0xC0000005: Access violation' > > It stops at add 40490000. > > > > Does this have anything to do with the environment setting? > > > > I'm using Aria 4.2.1 and a pioneer 3 mobile robot. > > > > Thanks. > > > > Regards, > > > > Fahmi > > ECSE Postgraduate, > > Monash Univ., > > Australia. > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081009/45565764/attachment-0001.html From reed at mobilerobots.com Thu Oct 9 12:02:46 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 09 Oct 2008 12:02:46 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: References: <20081006061143.923AA4FB0A@moe.its.monash.edu.au> <48EA04B8.2070405@mobilerobots.com> Message-ID: <48EE2B26.6070308@mobilerobots.com> OK, that would explain it. Libraries and programs produced by different Visual C++ versions are generally not compatible. The libraries and programs installed with the ARIA packages were built with Visual Studio 2003. Note, since the source code is provided for ARIA it's always possible to recompile the library with the right compiler; if one does this it's also helpful to include the compiler version in the name of the library (e.g. AriaVC6.dll, AriaVC6.lib); this is what I do when using Visual Studio 2008 for example. Muhammad Miskon wrote: > Hi Reed, > I've solve my problem. I use VC++ ver 6, so as a result I need to use aria.dll and all other related files which is intended specifically for that version. I just copy all files and folders and more importantly the aria.dll files that I used before I format my computer and it works perfectly like before. > Lesson to be learned. It is important to also backup our settings, or if possible, backup the whole drive and not just the data. > Thank you all. > Regards, > Fahmi > ----- Original Message ----- > From: Reed Hedges > Date: Monday, October 6, 2008 11:29 pm > Subject: Re: [Aria-users] Packet Drops using DEMO.EXE > Cc: 'Aria Users Mailing List' > >> Hi, I don't know why that would happen. Can you build your >> program in Debug >> mode (with debugging options turned on), and link to AriaDebug.lib >> and >> AriaDebug.dll? Then you can run the program in the debugger or >> enter the >> debugger when it crashes and see the function call stack. Do the >> standard ARIA >> example programs in "examples" work? >> >> Reed >> >> >> Fahmi Miskon wrote: >>> Hi guys, >>> >>> I reconfigure my VC++ environment recently due to virus attack :( >>> When I run my program, it get stuck at .. >>> >>> If (!simpleConnector.connectRobot(&robot)){ >>> Printf("Could not connect to robot.. exiting\n"); >>> Aria::shutdown(); >>> } >>> >>> It says 'Unhandled exception in ..: 0xC0000005: Access violation' >>> It stops at add 40490000. >>> >>> Does this have anything to do with the environment setting? >>> >>> I'm using Aria 4.2.1 and a pioneer 3 mobile robot. >>> >>> Thanks. >>> >>> Regards, >>> >>> Fahmi >>> ECSE Postgraduate, >>> Monash Univ., >>> Australia. >>> >> _______________________________________________ >> 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 khoanqv at yahoo.com.vn Mon Oct 13 12:20:28 2008 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Mon, 13 Oct 2008 23:20:28 +0700 (ICT) Subject: [Aria-users] robot Message-ID: <398271.68171.qm@web76012.mail.sg1.yahoo.com> Hello; I want to ask you something about my P3-AT id robotsoft83 serial GJCC 3024 . I intend to research about color tracking and I have some problems: 1. To use color tracking it must have a PTZ camera ,frame grabber and ACTS . Am I rights? So are there onboard framegrabber in the embedded computer or I must buy the integrated card? 2. I can't enter to the X-window of linux. Every time I use startx or xinit the monitor turn black ( monitor 15') and it stay in this condition until i restart the embedded computer. I try to change the resolution of the monitor with xrandr but it doesn't work. So what is the ptoblem? Do I need to enter x-window to program for the robot? Please reply me. Thank a lot --------------------------------- H? tr? T?m ki?m nay ?? c? tr?n Yahoo! Thanh c?ng c?. T?i ngay. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081013/7bd17109/attachment.html From prybski at cs.cmu.edu Mon Oct 13 13:57:44 2008 From: prybski at cs.cmu.edu (Paul E. Rybski) Date: Mon, 13 Oct 2008 13:57:44 -0400 Subject: [Aria-users] how many people are using Linux and usb/serial devices? In-Reply-To: <48E243DE.3070909@cs.cmu.edu> References: <48D7BD60.1060104@cs.cmu.edu> <48E23E86.6020508@mobilerobots.com> <48E243DE.3070909@cs.cmu.edu> Message-ID: <48F38C18.5030308@cs.cmu.edu> I'd like to confirm that this single-port USB/serial device: http://www.lindy-usa.com/usb-to-serial-converter-cable-9-way-rs-232-2m/42856.html seems to work perfectly with Ubuntu 8.04.1. My thanks to Federico Tibaldi and his research group for letting me know about the success of this part with their hardware and controlling Pioneers. -Paul Paul E. Rybski wrote: > Great idea about the web page, Reed! > > As far as I can tell, the problem is currently with the Edgeport series > of usb/serial converters and the usbserial *and perhaps the io_ti) > driver in the 2.6.24 kernel. I did a little experiment the other day > whereby I copied the usbserial.c file from a 2.6.22 kernel (copied from > Ubuntu 7.10 kernel sources) and overwrote the usbserial.c file in the > 2.6.24 kernel (from the Ubuntu 8.04.1 kernel sources) and built a custom > 8.04.1 kernel. With this new kernel, I still got an odd error/warning > but I was able to use my Edgeport to connect to the Pioneer 3DX again. I > did not do any further testing at that point, but this seems to > correspond to problems that other people have noted on various forums. > > Here's a link to a bug that was filed against the 2.6.24 kernel that is > nearly identical to the problem that I encountered. > > https://lists.linux-foundation.org/pipermail/bugme-new/2008-April/018387.html > > Following the bugzilla reports, it would appear that this has been fixed > in the 2.6.25.1 kernel which I'd have to build from source for my Ubuntu > 8.04.1 machines or at least I could try to patch my 2.6.24 kernel with > the files from 2.6.25.1 instead. > > -Paul > > Reed Hedges wrote: >> There is a new page on the website about USB-serial devices: >> >> http://robots.mobilerobots.com/wiki/USB_Serial_Port_Adapters >> >> On this page is a table to collect peoples' experiences using them. If >> you want me to add anything learned from your experience with specific >> devices, or operating systems, etc. please respond to this thread, write >> to me, or post it to >> http://robots.mobilerobots.com/wiki/Site_Ideas_and_Wishlist >> >> Paul, do you think that your problem with the Edgeport device is >> specific to Linux 2.6.24? Do you think it's specific to Edgeport >> devices? Do you still have any links to the mailing list and bug >> reports you found? >> >> Reed >> >> >> >> >> Paul E. Rybski wrote: >>> Hi, >>> I'm curious to know how many people on this list are using Linux and >>> usb/serial converters to communicate to their Pioneer, SICK, and/or any >>> other RS232 hardware that they may have. I've recently run into a >>> problem with Ubuntu 8.04.1 and my edgeport USB/serial devices. More >>> specifically, the problem seems to reside with the 2.6.24 kernel. >>> Apparently, something broke between 2.6.22 (standard with Ubuntu 7.10) >>> and 2.6.24 and devices like the 2 and 4-port edgeport usb/serial >>> converters are no longer properly recognized. >>> >>> I'd like to know whether anyone has encountered this or a similar >>> problem with other usb/serial hardware and whether or not they've found >>> a fix for it. I've seen on various ubuntu and linux bug report >>> forums/mailing lists that numerous people have discovered this problem >>> with different hardware. Unfortunately there does not yet seem to be an >>> obvious patch for the 2.6.24 kernel. Right now, I'm trying to roll a >>> custom 2.6.24 that reverts the usb-serial.c file (and potentially the >>> io_ti.c file since that's the driver I'm using) and will see if that >>> works. The guaranteed solution is for me to revert to using Ubuntu 7.10 >>> on my computers but that's a step I'd prefer not to have to make at this >>> time. >>> >>> -Paul >>> >> _______________________________________________ >> 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 >> > -- Paul E. Rybski, Ph.D., Systems Scientist Robotics Institute, Carnegie Mellon University Phone: 412-268-7417, Fax: 412-268-7350 Web: http://www.cs.cmu.edu/~prybski From enghemin at yahoo.com Tue Oct 14 05:19:06 2008 From: enghemin at yahoo.com (Hemin Sh.Aumer) Date: Tue, 14 Oct 2008 02:19:06 -0700 (PDT) Subject: [Aria-users] robot Message-ID: <340070.23008.qm@web56204.mail.re3.yahoo.com> Hi there, ? I am not using linux so honestly I don't know about it. But as far as the color tracking is concerned, you may use a framegrabber or just a normal PTZ digital cameras from sony or vivotek. The IP based once can be used as they come with a PTZ unit and you can access the images over the network. However, consider the accuracy of the PTZ before you go for it as they differ and some of these use stepper motors and not servo motors. i.e. not so precise. ? Hope this helps... ? Regards ? ? Hemin Sh. Omer Nottingham, UK www.hemin.co.uk ? ----- Original Message ---- From: le duy khoa To: Sent: Monday, October 13, 2008 5:20:28 PM Subject: [Aria-users] robot Hello; I want to ask you something about my P3-AT id robotsoft83 serial GJCC 3024 . I intend to research about color tracking and I have some problems: 1. To use color tracking it must have a PTZ camera ,frame grabber and ACTS . Am I rights? So are there onboard framegrabber in the embedded computer or I must buy the integrated card? 2. I can't enter to the X-window of linux. Every time I use startx or xinit the monitor turn black ( monitor 15') and it stay in this condition until i restart the embedded computer. I try to change the resolution of the monitor with xrandr but it doesn't work. So what is the ptoblem? Do I need to enter x-window to program for the robot? Please reply me. Thank a lot ________________________________ H? tr? T?m ki?m nay ?? c? tr?n Yahoo! Thanh c?ng c?. T?i ngay. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081014/d6ed72b2/attachment.html From reed at mobilerobots.com Tue Oct 14 08:35:52 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 14 Oct 2008 08:35:52 -0400 Subject: [Aria-users] robot In-Reply-To: <398271.68171.qm@web76012.mail.sg1.yahoo.com> References: <398271.68171.qm@web76012.mail.sg1.yahoo.com> Message-ID: <48F49228.7080207@mobilerobots.com> Hello, some ideas: le duy khoa wrote: > Hello; > I want to ask you something about my P3-AT id robotsoft83 serial GJCC 3024 . I intend to research about color tracking and I have some problems: > 1. To use color tracking it must have a PTZ camera ,frame grabber and ACTS . Am I rights? So are there onboard framegrabber in the embedded computer or I must buy the integrated card? The computer doesn't have an integrated video framegrabber, it needs a PC104 add on card. If your robot does not currently have a camera installed then it probably doesn't have the framegrabber card either. > 2. I can't enter to the X-window of linux. Every time I use startx or xinit the monitor turn black ( monitor 15') and it stay in this condition until i restart the embedded computer. I try to change the resolution of the monitor with xrandr but it doesn't work. So what is the ptoblem? Do I need to enter x-window to program for the robot? You could try a different monitor. Also check /var/log/Xorg.0.log (or /var/log/XFree86.0.log if you don't have that) for error messages. Reed From mzwinderman at gmail.com Tue Oct 14 11:20:02 2008 From: mzwinderman at gmail.com (Matthijs Zwinderman) Date: Tue, 14 Oct 2008 11:20:02 -0400 Subject: [Aria-users] Check if PTU is turning Message-ID: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> Hi all, I am currently using the Directed Perceptions PTU-46-17.5 on a Peoplebot running Arnl version 1.5.1. I would like to check if this PTU is rotating from within my software. My current method is giving it a new pan and check whether the pan of the PTU is the same angle as the set angle. However, this doesn't work because internally in Aria the "current pan" is immediately set to the "wanted pan". I use the functions "pan", "tilt", "getPan" and "getTilt" of the ArDPPTU class. How can I check whether the PTU is panning or tilting? Thanks in advance, Matthijs From phano002 at gmail.com Tue Oct 14 19:11:29 2008 From: phano002 at gmail.com (Gridsada Phanomchoeng) Date: Tue, 14 Oct 2008 18:11:29 -0500 Subject: [Aria-users] Does Anyone know how to read Server Information Packets (SIPs)? Message-ID: Hello All, I have programmed the 3-AT by using ARCOS. I can connect and send command to the robot by using the list of command in the Table 7 in the Pioneer 3 Operations Manual. However, when I tried to read Server Information Packets (SIPs) as shown in the Table 6, The SIPs were never changed all the time I read. Does Anyone know how to read Server Information Packets (SIPs)? Do I have to any command before reading SIPs? Thank you Gridsada -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081014/788494ff/attachment-0001.html From paloma_py at hotmail.com Wed Oct 15 06:48:01 2008 From: paloma_py at hotmail.com (Paloma de la Puente Yusty) Date: Wed, 15 Oct 2008 12:48:01 +0200 Subject: [Aria-users] player parameters for patrolbot Message-ID: Hi, we are trying to use player servers with a patrolbot and get the following warning message: P2OS: Warning: couldn't find parameters for this robot; using default Does anybody know how to change the default parameters or create a new player file for the patrolbot? Where are those parameters taken from? Why does not player read them directly from ARCOS instead of just using the robot model's name and getting the other parameters from a player file which we are not able to find? If anyone can help it would be useful, thank you very much Best regards, Paloma de la Puente _________________________________________________________________ Prueba los prototipos de los ?ltimos en MSN Motor http://motor.es.msn.com/ From paloma_py at hotmail.com Wed Oct 15 06:48:01 2008 From: paloma_py at hotmail.com (Paloma de la Puente Yusty) Date: Wed, 15 Oct 2008 12:48:01 +0200 Subject: [Aria-users] player parameters for patrolbot Message-ID: Hi, we are trying to use player servers with a patrolbot and get the following warning message: P2OS: Warning: couldn't find parameters for this robot; using default Does anybody know how to change the default parameters or create a new player file for the patrolbot? Where are those parameters taken from? Why does not player read them directly from ARCOS instead of just using the robot model's name and getting the other parameters from a player file which we are not able to find? If anyone can help it would be useful, thank you very much Best regards, Paloma de la Puente _________________________________________________________________ Prueba los prototipos de los ?ltimos en MSN Motor http://motor.es.msn.com/ From reed at mobilerobots.com Wed Oct 15 09:32:14 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 15 Oct 2008 09:32:14 -0400 Subject: [Aria-users] Does Anyone know how to read Server Information Packets (SIPs)? In-Reply-To: References: Message-ID: <48F5F0DE.3020806@mobilerobots.com> Hello, > I have programmed the 3-AT by using ARCOS. I can connect and send > command to the robot by using the list of command in the Table 7 in the > Pioneer 3 Operations Manual. However, when I tried to read Server > Information Packets (SIPs) as shown in the Table 6, The SIPs were never > changed all the time I read. > > Does Anyone know how to read Server Information Packets (SIPs)? Do I > have to any command before reading SIPs? > After the initial handshake (SYNC0, SYNC1, SYNC2) you should send the OPEN command (1). Also make sure that you are reading SIP packets sufficiently fast (frequently) to avoid them accumulating in the OS buffer for the serial device-- the robot firmware sends these every 100ms (10hz) by default (though this is a configuration variable and if someone else used the robot in the past it's possible, though unlikely, that they changed it). Then as the robot drives you should see the XPOS, YPOS and THETA fields changing (and other fields as well of course). Are you able to use commands like VEL or MOVE to drive the robot? Don't forget to send PULSE commands (0) during times when your program has no other commands to send. Reed From phano002 at gmail.com Wed Oct 15 12:09:25 2008 From: phano002 at gmail.com (Gridsada Phanomchoeng) Date: Wed, 15 Oct 2008 11:09:25 -0500 Subject: [Aria-users] Does Anyone know how to read Server Information Packets (SIPs)? In-Reply-To: <48F5F0DE.3020806@mobilerobots.com> References: <48F5F0DE.3020806@mobilerobots.com> Message-ID: Hello Reed, Thank you for your advice, After I cleared buffer before reading data, now I got the data. Thank you Gridsada On Wed, Oct 15, 2008 at 8:32 AM, Reed Hedges wrote: > > > Hello, > > > I have programmed the 3-AT by using ARCOS. I can connect and send > > command to the robot by using the list of command in the Table 7 in the > > Pioneer 3 Operations Manual. However, when I tried to read Server > > Information Packets (SIPs) as shown in the Table 6, The SIPs were never > > changed all the time I read. > > > > Does Anyone know how to read Server Information Packets (SIPs)? Do I > > have to any command before reading SIPs? > > > > > After the initial handshake (SYNC0, SYNC1, SYNC2) you should send the OPEN > command (1). > > Also make sure that you are reading SIP packets sufficiently fast > (frequently) > to avoid them accumulating in the OS buffer for the serial device-- the > robot > firmware sends these every 100ms (10hz) by default (though this is a > configuration variable and if someone else used the robot in the past it's > possible, though unlikely, that they changed it). > > Then as the robot drives you should see the XPOS, YPOS and THETA fields > changing > (and other fields as well of course). > > Are you able to use commands like VEL or MOVE to drive the robot? Don't > forget > to send PULSE commands (0) during times when your program has no other > commands > to send. > > 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 > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081015/11eceeb5/attachment.html From bladower at hotmail.com Thu Oct 16 04:10:50 2008 From: bladower at hotmail.com (Jose perez cara) Date: Thu, 16 Oct 2008 08:10:50 +0000 Subject: [Aria-users] Using two microphones with ARIA Message-ID: Hello. I would like to know if there is any way to measure the power of sound coming into the microphones of my peoplebot using the functions of ARIA or with another library for C++. I want to use the mircrophones to know if the sound comes from one side or another to make the robot turn and I do not know if it is possible with ARIA. A greeting. _________________________________________________________________ Llega la nueva temporada. Consulta las nuevas tendencias en MSN Estilo http://estilo.es.msn.com/moda/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081016/4724ca4f/attachment.html From blomba at unione.com.br Fri Oct 17 08:05:50 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Fri, 17 Oct 2008 09:05:50 -0300 Subject: [Aria-users] Mapping using occupancy grids Message-ID: <20081017120550.25347.qmail@hm1305.locaweb.com.br> Hi ARIA users, Do you know who has knowledge about using Sonar Mapping Using occupancy grids? Thank you. Bruno Teixeira Lomba From TANC0073 at ntu.edu.sg Mon Oct 20 14:33:14 2008 From: TANC0073 at ntu.edu.sg (#TAN CHUN LIANG#) Date: Tue, 21 Oct 2008 02:33:14 +0800 Subject: [Aria-users] Gyroscope Message-ID: Hi, I am student from Nanyang Technological University, Singapore. Currently I am working on a project which using Powerbot. I would like to know by default, will the gyroscope be initialized and start function by itself by contributing to the correction of X, Y and the orientation in of the robot? And if it is, I would like to know how can I see the correction formula as it is for experiment purpose. Thanks. Regards, Chun Liang. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081021/2e771ee6/attachment.html From mzwinderman at gmail.com Tue Oct 21 13:10:06 2008 From: mzwinderman at gmail.com (Matthijs Zwinderman) Date: Tue, 21 Oct 2008 13:10:06 -0400 Subject: [Aria-users] Check if PTU is turning In-Reply-To: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> References: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> Message-ID: Hi all, I am currently using the Directed Perceptions PTU-46-17.5 on a Peoplebot running Arnl version 1.5.1. I would like to check if this PTU is rotating from within my software. My current method is giving it a new pan and check whether the pan of the PTU is the same angle as the set angle. However, this doesn't work because internally in Aria the "current pan" is immediately set to the "wanted pan". I use the functions "pan", "tilt", "getPan" and "getTilt" of the ArDPPTU class. How can I check whether the PTU is panning or tilting? Thanks in advance, Matthijs From blomba at unione.com.br Wed Oct 22 08:48:50 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Wed, 22 Oct 2008 10:48:50 -0200 Subject: [Aria-users] Problem with Localization (PeopleBot) Message-ID: <20081022124850.1033.qmail@hm1079.locaweb.com.br> Hi ARIA users, I found the following problem... When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don?t leave the place ... The robot comes to the route (path), even he turns to the right direction of goal, but don?t leave the place .. Does anyone have any idea of what I do to solve this problem? I tried to change the parameters of the robot but not had success. I look back Grateful now Bruno Teixeira Lomba From work.chandan at gmail.com Wed Oct 22 11:11:44 2008 From: work.chandan at gmail.com (chandan datta) Date: Wed, 22 Oct 2008 19:11:44 +0400 Subject: [Aria-users] Problem with Localization Message-ID: <2457b8930810220811v65d0225bk33778e5cc5cf9caf@mail.gmail.com> Hi, I agree that manually constructing the sensor and motion models time-consuming, tedious and error-prone . I think the following publication is pretty helpful : http://www.cs.ualberta.ca/~bowling/papers/06aaai-calibration.pdf for robust models of motion and sensor characteristics. if there are some particular parameters that impact indoor robots ( cluttered office environments for e.g) , post the values and observations. -- Regards, Chandan -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081022/2b519bb2/attachment.html From reed at mobilerobots.com Wed Oct 22 12:14:54 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 22 Oct 2008 12:14:54 -0400 Subject: [Aria-users] player parameters for patrolbot In-Reply-To: References: Message-ID: <48FF517E.6040507@mobilerobots.com> Paloma de la Puente Yusty wrote: > > Hi, > > we are trying to use player servers with a patrolbot and get the following warning message: > > P2OS: Warning: couldn't find parameters for this robot; using default > > Does anybody know how to change the default parameters or create a new player file for the patrolbot? Where are those parameters taken from? Why does not player read them directly from ARCOS instead of just using the robot model's name and getting the other parameters from a player file which we are not able to find? > You should ask on the Player users group. You may need to send them information from Aria/params/patrolbot-sh.p. Reed From reed at mobilerobots.com Wed Oct 22 12:22:38 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 22 Oct 2008 12:22:38 -0400 Subject: [Aria-users] Gyroscope In-Reply-To: References: Message-ID: <48FF534E.9080600@mobilerobots.com> #TAN CHUN LIANG# wrote: > I would like to know by default, will the gyroscope be initialized and > start function by itself by contributing to the correction of X, Y and > the orientation in of the robot? > If you have the ARCOS firmware, and you're using version 2.0 or later, then this is configurable: set the HasGyro firmware parameter to 2 with ARCOScf. Then it will be done automatically in the robot firmware before the position is sent to ARIA or other clients. See README at http://robots.mobilerobots.com/ARCOS If you have an older robot or older firmware, or you set HasGyro to 1, then gyro correction is only done if a program contains an ArAnalogGyro object (which requests the gyro data seperately and applies corrections to the position in ArRobot). If HasGyro is 0 or 2, then ArAnalogGyro does nothing. Reed From reed at mobilerobots.com Wed Oct 22 12:26:32 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 22 Oct 2008 12:26:32 -0400 Subject: [Aria-users] Problem with Localization (PeopleBot) In-Reply-To: <20081022124850.1033.qmail@hm1079.locaweb.com.br> References: <20081022124850.1033.qmail@hm1079.locaweb.com.br> Message-ID: <48FF5438.3000108@mobilerobots.com> Does localization fail, or is it unable to follow the path? If localization fails, guiServerSonar will indicate "Lost" as its status (in MobileEyes and log messages). You will also see a low localization score (in MobileEyes open View->Details and View->Custom Details), below its configured threshold. If it's localization is not lost, but it's just not following the path, then it's probably due to an obstacle either from the map or from a sensor. Try it in a very open space, such that the goal point, the robot, and the path are all far away from the map obstacles. The FreeSpace parameter, along with the size of the robot and its Clearance and Padding parameters, will determine how far away map obstacles must be. See Tools->Robot Config in MobileEyes to see and modify these parameters. Or edit sonarnl.p. Reed Bruno Teixeira Lomba wrote: > Hi ARIA users, > > I found the following problem... > > When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... > > But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don?t leave the place ... > > The robot comes to the route (path), even he turns to the right direction of goal, but don?t leave the place .. > > Does anyone have any idea of what I do to solve this problem? > > I tried to change the parameters of the robot but not had success. > > I look back > > Grateful now > > Bruno Teixeira Lomba > From blomba at unione.com.br Wed Oct 22 12:50:36 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Wed, 22 Oct 2008 14:50:36 -0200 Subject: [Aria-users] =?iso-8859-1?q?Problem_with_Localization_=28PeopleBo?= =?iso-8859-1?q?t=29?= In-Reply-To: <48FF5438.3000108@mobilerobots.com> References: <48FF5438.3000108@mobilerobots.com> Message-ID: <20081022165036.25229.qmail@hm1079.locaweb.com.br> If I run wander, or force him to go ahead, behind or other commands, he can run, however going to the goal does not work ... The message "Failed going to goal..." I?ll test these commands and look at sonarnl.p. Thanks again. Bruno Teixeira Lomba Wed, 22 Oct 2008 12:26:32 -0400, Reed Hedges escreveu: > > Does localization fail, or is it unable to follow the path? If localization > fails, guiServerSonar will indicate "Lost" as its status (in MobileEyes and log > messages). You will also see a low localization score (in MobileEyes open > View->Details and View->Custom Details), below its configured threshold. > > If it's localization is not lost, but it's just not following the path, then > it's probably due to an obstacle either from the map or from a sensor. Try it > in a very open space, such that the goal point, the robot, and the path are all > far away from the map obstacles. The FreeSpace parameter, along with the size of > the robot and its Clearance and Padding parameters, will determine how far away > map obstacles must be. See Tools->Robot Config in MobileEyes to see and modify > these parameters. Or edit sonarnl.p. > > Reed > > > > Bruno Teixeira Lomba wrote: > > Hi ARIA users, > > > > I found the following problem... > > > > When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... > > > > But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don??t leave the place ... > > > > The robot comes to the route (path), even he turns to the right direction of goal, but don??t leave the place .. > > > > Does anyone have any idea of what I do to solve this problem? > > > > I tried to change the parameters of the robot but not had success. > > > > I look back > > > > Grateful now > > > > Bruno Teixeira Lomba > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > From blomba at unione.com.br Thu Oct 23 21:28:00 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Thu, 23 Oct 2008 22:28:00 -0300 Subject: [Aria-users] Log Sonar Readings Message-ID: <20081024002800.20994.qmail@hm1305.locaweb.com.br> Hi Aria users, I?d like to create a log file (.txt) of the sonar readings of my robot as it navigates using guiServerSonar ... I need information such as x, y, theta, and the sonar... I wonder how (getx(), getY (), getTh() and getSonarRange()).. But I don?t know which command use to make it do so on loop and also in what point of my program do it ... I thought of something like: while (robot.isRunning ()) ( ArLog::log(ArLog::Normal, "% f", robot.getX()); ); What point in the guiServerSonar I can put this? Could you please help me? Thanks. Bruno Teixeira Lomba From reed at mobilerobots.com Fri Oct 24 11:15:42 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 24 Oct 2008 11:15:42 -0400 Subject: [Aria-users] Check if PTU is turning In-Reply-To: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> References: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> Message-ID: <4901E69E.4010605@mobilerobots.com> Hi Matthijs, I had some time to look at the ArDPPTU code a bit. Right now there's no way to get information back from the DPPTU about its state, so getPan() and getTilt() intentionally return the last commanded value. getRealPanTilt() will return false to indicate this. I'll see if I can find more information about the DPPTU in case there is a way to get feedback from it somehow. Reed Matthijs Zwinderman wrote: > Hi all, > > I am currently using the Directed Perceptions PTU-46-17.5 on a > Peoplebot running Arnl version 1.5.1. > > I would like to check if this PTU is rotating from within my software. > My current method is giving it a new pan and check whether the pan of > the PTU is the same angle as the set angle. However, this doesn't work > because internally in Aria the "current pan" is immediately set to the > "wanted pan". > > I use the functions "pan", "tilt", "getPan" and "getTilt" of the > ArDPPTU class. > > How can I check whether the PTU is panning or tilting? > > Thanks in advance, > > Matthijs > > _______________________________________________ > 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 Fri Oct 24 13:17:13 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 24 Oct 2008 13:17:13 -0400 Subject: [Aria-users] Check if PTU is turning In-Reply-To: <4901E69E.4010605@mobilerobots.com> References: <4420A596-E185-4383-B198-8E023FEE9988@gmail.com> <4901E69E.4010605@mobilerobots.com> Message-ID: <49020319.2010000@mobilerobots.com> If we can, we'll add support for receiving status back from the DPPTU in a future release. (If you need it immediately and want to add it to ArDPPTU, let me know if you have any questions about the ArDPPTU, ArPTZ, ArDPPTUPacket, and ArBasePacket class relationships or any other questions. You may need to add a callback to ArRobot to send queries and read responses from the connection stream. You can look at ArVCC4 for an example. There are a few possible issues to figure out to make it work completely correctly, but you could probably get something working for your needs fairly easily.) Until then the only other thing I can suggest is looking at the three execution modes (immediateExec(), positionExec(), and awaitExec() to set them, see the DPPTU manual for description of what these are, they're a bit strange.) Reed Reed Hedges wrote: > Hi Matthijs, > > I had some time to look at the ArDPPTU code a bit. Right now there's no way to > get information back from the DPPTU about its state, so getPan() and getTilt() > intentionally return the last commanded value. getRealPanTilt() will return > false to indicate this. I'll see if I can find more information about the > DPPTU in case there is a way to get feedback from it somehow. > > Reed > > > > Matthijs Zwinderman wrote: >> Hi all, >> >> I am currently using the Directed Perceptions PTU-46-17.5 on a >> Peoplebot running Arnl version 1.5.1. >> >> I would like to check if this PTU is rotating from within my software. >> My current method is giving it a new pan and check whether the pan of >> the PTU is the same angle as the set angle. However, this doesn't work >> because internally in Aria the "current pan" is immediately set to the >> "wanted pan". >> >> I use the functions "pan", "tilt", "getPan" and "getTilt" of the >> ArDPPTU class. >> >> How can I check whether the PTU is panning or tilting? >> >> Thanks in advance, >> >> Matthijs >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > From reed at mobilerobots.com Fri Oct 24 16:00:20 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 24 Oct 2008 16:00:20 -0400 Subject: [Aria-users] Questions related to ARNL In-Reply-To: <2457b8930810240718x208e48d8p6b69ec45e3094068@mail.gmail.com> References: <2457b8930810240718x208e48d8p6b69ec45e3094068@mail.gmail.com> Message-ID: <49022954.7010306@mobilerobots.com> Hello, chandan datta wrote: > Apologies for multiple posting > > I'm trying to use the goalClient example from ARNL to guide the > Peoplebot through a list of goals. > > 1.How do I get the "goal done" state information reply packet using a > callback The server mode and server status will change after it reaches a goal (or fails to reach the goal). goalClient.cpp uses its handleRobotUpdate function to receive the "update" packet containing those. The "pathPlannerStatus" request also provides a string which may be terser and easier to check for a certain value. (goalClient requests this too I think). > 2.Is there a ArNetworkingDebug.lib/ArnlDebug.lib ? No, but there will be in a future release. (Or you can get ArNetworkingDebug.lib from the correct version of ARIA) > 3.while using some advanced features of ARNL like > ArGlobalReplanningRangeDevice in guiserver,does in effect the > PlanEveryTime parameter in arnl.p ? Can you expand this question with more detail? PlanEveryTime doesn't affect global replanning. PlanEveryTime is an adjustment to how it refines the path as it follows it. The global replanning feature is only activated when it fails to reach the goal using the first plan, in which case it will make a completely new path to follow to the goal, considering the whole map ("global"). > > 4. What steps to take when localization score is low,without manual > intervention ? The only things you can do when lost is manual intervention, or attempting a new localization considering an area big enough to cover the whole map (which often doesn't find the right place). For manual intervention, the user can use the "localize to point" button in MobileEyes to tell the robot where it is. (It sends a network command via ArNetworking with the point, and ARNL moves to that position and tries a localization. You can modify the server that's using the ARNL library to add your own behavior, using callbacks, your own threads, etc. > > Is there any possibility of getting in collaboration with Mobilerobots ( > I work at University ) by signing a NDA or something so that we don't > waste much time solving navigational problems and focus on the core > ideas that our project is working on where decent navigation (not > exceptional accuracy) is essential ? You can contact sales at mobilerobots.com to ask about this. > We're pretty bothered about > constant crashes that happen while running ARNL with its fully > capabilities . Please let us know when ARNL crashes with as much detail as you can, and we can help find the cause of the crash, and fix any bugs in ARNL that may be contributing to it! Reed -- Reed Hedges Developer Software Support MobileRobots Inc. Find downloads, documentation, FAQ, mailing lists and more at: From blomba at unione.com.br Mon Oct 27 07:55:54 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Mon, 27 Oct 2008 09:55:54 -0200 Subject: [Aria-users] Log Sonar Readings In-Reply-To: References: Message-ID: <20081027115554.31665.qmail@hm1079.locaweb.com.br> I need to generate this log with the data from the position of the robot and their sonar, to perform a method of mapping offline already implemented. My problem is that I could not find the right time to generate this log ... I am customizing the guiServerSonar ... In the simulated environment, I run the MobileSim to the map created, then the road guiServerSonar and launching MobileEyes... At this time of transition pro MobileEyes seems that I just lose the information ... If you can help me in any way I am grateful ... I need only generate a log as I said, as he navigates through the map and I viewed the GUI MobileEYes Thank you very much Bruno Teixeira Lomba Thu, 23 Oct 2008 22:28:00 -0300, "Bruno Teixeira Lomba" escreveu: > Hi Aria users, > > I?d like to create a log file (.txt) of the sonar readings of my robot as it navigates using guiServerSonar ... > > I need information such as x, y, theta, and the sonar... > I wonder how (getx(), getY (), getTh() and getSonarRange()).. > > But I don?t know which command use to make it do so on loop and also in what point of my program do it ... > > I thought of something like: > > while (robot.isRunning ()) ( > ArLog::log(ArLog::Normal, "% f", robot.getX()); > ); > > What point in the guiServerSonar I can put this? > > Could you please help me? > > Thanks. > > Bruno Teixeira Lomba > > > > > From reed at mobilerobots.com Mon Oct 27 09:09:17 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 27 Oct 2008 09:09:17 -0400 Subject: [Aria-users] Log Sonar Readings In-Reply-To: <20081024002800.20994.qmail@hm1305.locaweb.com.br> References: <20081024002800.20994.qmail@hm1305.locaweb.com.br> Message-ID: <4905BD7D.3020105@mobilerobots.com> 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 From blomba at unione.com.br Mon Oct 27 19:50:00 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Mon, 27 Oct 2008 20:50:00 -0300 Subject: [Aria-users] =?iso-8859-1?q?Log_Sonar_Readings?= Message-ID: <20081027225000.27640.qmail@hm1305.locaweb.com.br> 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 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 > > > > -------------- next part -------------- A non-text attachment was scrubbed... Name: guiServer - Problem.jpg Type: image/pjpeg Size: 129590 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20081027/26ceb0c3/attachment-0001.bin From blomba at unione.com.br Tue Oct 28 19:47:54 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=) Date: Tue, 28 Oct 2008 21:47:54 -0200 Subject: [Aria-users] =?iso-8859-1?q?Log_Sonar_Readings?= In-Reply-To: <20081027225000.27640.qmail@hm1305.locaweb.com.br> References: <20081027225000.27640.qmail@hm1305.locaweb.com.br> Message-ID: <20081028234754.8937.qmail@hm1079.locaweb.com.br> Could you help me please??? I didn?t solve the problem yet. Thanks Bruno Teixeira Lomba Mon, 27 Oct 2008 20:50:00 -0300, "Bruno Teixeira Lomba" 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 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 > > > > > > > > > >