From mkrishna at iiit.ac.in Mon Sep 1 08:08:58 2008 From: mkrishna at iiit.ac.in (K Madhava Krishna) Date: Mon, 1 Sep 2008 17:38:58 +0530 (IST) Subject: [Aria-users] Sick Laser not connecting to Pioneer Message-ID: <35455.192.168.36.204.1220270938.squirrel@mail.iiit.ac.in> Hello, We recently procured a Pioneer (P3D) along with SICK LMS. There are a couple of issues that are troublin us. 1. One is when we measure the voltage across the yellow black power connector that powers the laser we get only 13V whereas i think the SICK requires 24 Volts? This is despite 3 fully charged batteries are inside the Pioneer, the individual drop is 13V each across them 2. However when we run the demo program and press -l the laser turns on (the green light comes on) but it gets disconnected immediately with an error: "ArSick lost connection to Laser due to error". The output looks like: ArModeLaser is connecting to the laser. ArSick: waiting for laser to power on. ArSick: Connected to the laser. ArSick: Lost connection to the laser because of error. Aria: Received signal 'SIGINT'. Exiting. It does not specify what error etc. Could someone say what needs to be done? Madhav From mkrishna at iiit.ac.in Mon Sep 1 08:09:14 2008 From: mkrishna at iiit.ac.in (K Madhava Krishna) Date: Mon, 1 Sep 2008 17:39:14 +0530 (IST) Subject: [Aria-users] Sick Laser not connecting to Pioneer Message-ID: <35974.192.168.36.204.1220270954.squirrel@mail.iiit.ac.in> Hello, We recently procured a Pioneer (P3D) along with SICK LMS. There are a couple of issues that are troublin us. 1. One is when we measure the voltage across the yellow black power connector that powers the laser we get only 13V whereas i think the SICK requires 24 Volts? This is despite 3 fully charged batteries are inside the Pioneer, the individual drop is 13V each across them 2. However when we run the demo program and press -l the laser turns on (the green light comes on) but it gets disconnected immediately with an error: "ArSick lost connection to Laser due to error". The output looks like: ArModeLaser is connecting to the laser. ArSick: waiting for laser to power on. ArSick: Connected to the laser. ArSick: Lost connection to the laser because of error. Aria: Received signal 'SIGINT'. Exiting. It does not specify what error etc. Could someone say what needs to be done? Madhav From reed at mobilerobots.com Thu Sep 4 16:26:47 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 04 Sep 2008 16:26:47 -0400 Subject: [Aria-users] PTU unit not panning fully to the right In-Reply-To: <750AB827-9443-4140-9375-7E348D99F759@gmail.com> References: <750AB827-9443-4140-9375-7E348D99F759@gmail.com> Message-ID: <48C04487.6090708@mobilerobots.com> Hi Matthijs, ARIA should be able to pan it completely. Which ARIA example programs are you running? dpptuExample? Have you tried resetting the DPPTU or calibrating it to center using dpptuExample? Sorry I don't have any specific information, I don't know very much about the DPPTU myself. I'll ask around and see if I can come up with anything more. Reed Matthijs Zwinderman wrote: > Hi everybody, > > Currently we are working on a PeopleBot with a Bumblebee camera > mounted on the standard Directed Perceptions PTU, version PTU 46-17.5. > We are using Aria version 2.5.1 > > When running either the demo or the PTU example, we can control the > pan and tilt of the PTU through Aria. However, we cannot pan the unit > to the right for more than -51 degrees. > During the initialization and the self-test, the unit can pan further > than -51 degrees, so it is most likely not a hardware problem. There > are no problems tilting the unit or panning it to the left. > > We think this is a very serious limitation. Has anyone experienced the > same problem, and is there a solution for this? > > Thanks in advance! > > Matthijs Zwinderman > _______________________________________________ > 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 Sat Sep 6 18:55:12 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno Teixeira Lomba?=) Date: Sat, 6 Sep 2008 19:55:12 -0300 Subject: [Aria-users] SLAM with RCD Message-ID: <20080906225512.10614.qmail@hm1305.locaweb.com.br> Hi users, Somebody has used the technique of RCD (Regions of constant depth) to make the SLAM in Pionner?s robots? If someone you know, please contact Thank you Bruno Lomba From blomba at unione.com.br Sat Sep 6 19:00:46 2008 From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno Teixeira Lomba?=) Date: Sat, 6 Sep 2008 20:00:46 -0300 Subject: [Aria-users] ARIA with MatLab Message-ID: <20080906230046.11253.qmail@hm1079.locaweb.com.br> Hi ARIA users, Somebody has used the MatLab software integrating with the ARIA? I found a document at web (ARIA and Matlab Integration With Applications) which has an application of SLAM using the cited softwares, but found some doubts ... If someone you know, please contact Thank you Brubo Lomba From jyotikab83 at gmail.com Sun Sep 7 15:46:12 2008 From: jyotikab83 at gmail.com (Jyotika Bahuguna) Date: Mon, 8 Sep 2008 01:16:12 +0530 Subject: [Aria-users] ArPriorityResolver::resolve giving a SEG fault Message-ID: Hi, I am using the function : ArActionAvoidFront obstavd("avoid front obstacles",600,0,0,false); this->addAction(&obstavd, 55); in my program. At some point, the program gives a SEG fault. The backtrace in gdb, gives the following trace: ======================================================= #0 0x00ae465f in std::_Rb_tree_decrement () from /usr/lib/libstdc++.so.6 #1 0x00263da2 in std::_Rb_tree_iterator >::operator-- (this=0xb0f9bfc4) at /usr/lib/gcc/i386-redhat-linux/4.0.0/../../../../include/c++/4.0.0/bits/stl_tree.h:196 #2 0x00263dcc in std::reverse_iterator > >::operator* ( this=0xb0f9c150) at /usr/lib/gcc/i386-redhat-linux/4.0.0/../../../../include/c++/4.0.0/bits/stl_iterator.h:152 #3 0x00263a56 in ArPriorityResolver::resolve (this=0x9e4a3a8, actions=0x805de78, robot=0x805da60) at src/ArPriorityResolver.cpp:77 #4 0x00273b47 in ArRobot::actionHandler (this=0x805da60) at src/ArRobot.cpp:3232 #5 0x00280116 in ArFunctorC::invoke (this=0x805dabc) at include/ArFunctor.h:1375 #6 0x002b2cdb in ArSyncTask::run (this=0x9e4a2a8) at src/ArSyncTask.cpp:266 #7 0x002b2de6 in ArSyncTask::run (this=0x9e4a1a8) at src/ArSyncTask.cpp:277 #8 0x002b216e in ArSyncLoop::runThread (this=0x805dc44, arg=0x0) at src/ArSyncLoop.cpp:108 #9 0x00217813 in ArRetFunctor1C::invokeR (this=0x805dcb4) at include/ArFunctor.h:2066 #10 0x002b66b2 in run (arg=0x805dc44) at src/ArThread_LIN.cpp:51 #11 0x0093ab80 in start_thread () from /lib/libpthread.so.0 #12 0x007bcdee in clone () from /lib/libc.so.6 ======================================================= I couldnt deduce much from the output, can someone help me with this, as to when can we get such an error. Thanks in advance, Jyotika P.S : I am sorry I couldnt formulate my query any better. :( -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080908/63f66b28/attachment.html From reed at mobilerobots.com Mon Sep 8 08:10:26 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 08 Sep 2008 08:10:26 -0400 Subject: [Aria-users] ArPriorityResolver::resolve giving a SEG fault In-Reply-To: References: Message-ID: <48C51632.7010106@mobilerobots.com> Jyotika Bahuguna wrote: > Hi, > I am using the function : > > ArActionAvoidFront obstavd("avoid front obstacles",600,0,0,false); > this->addAction(&obstavd, 55); Hello, can you give more context for where you use this code? In what function and in what class? Note that ArRobot::addAction() stores the pointer given, so the ArAction object it points to must remain valid; if the code you give is in a function (method) and that function returns, obstavd will be destroyed and the pointer given to addAction() will no longer be valid. Reed From mzwinderman at gmail.com Mon Sep 8 14:02:57 2008 From: mzwinderman at gmail.com (Matthijs Zwinderman) Date: Mon, 8 Sep 2008 14:02:57 -0400 Subject: [Aria-users] PTU unit not panning fully to the right In-Reply-To: <48C04487.6090708@mobilerobots.com> References: <750AB827-9443-4140-9375-7E348D99F759@gmail.com> <48C04487.6090708@mobilerobots.com> Message-ID: Hi Reed and Zeb, I've tried sending commands to the PTU directly (using the following command: "echo PP-3090 > /dev/ttyS1"). This works, the PTU will pan fully to the right and also to any value in between. However, using one of the example programs the PTU still fails to turn completely. I am using the dpptuExample (modified to use the correct serial port) and the " Aria/examples/demo" program. As before, the PTU will pan and tilt, but not fully to the right. I have tried calibrating it to the center and resetting it with both example programs, but still won't pan fully. Are there any other solutions I could try? I thank you for your quick replies, Matthijs Op 4 sep 2008, om 16:26 heeft Reed Hedges het volgende geschreven: > > Hi Matthijs, > > ARIA should be able to pan it completely. Which ARIA example > programs are you > running? dpptuExample? Have you tried resetting the DPPTU or > calibrating it to > center using dpptuExample? > > Sorry I don't have any specific information, I don't know very much > about the > DPPTU myself. I'll ask around and see if I can come up with > anything more. > > Reed > > > > Matthijs Zwinderman wrote: >> Hi everybody, >> >> Currently we are working on a PeopleBot with a Bumblebee camera >> mounted on the standard Directed Perceptions PTU, version PTU >> 46-17.5. >> We are using Aria version 2.5.1 >> >> When running either the demo or the PTU example, we can control the >> pan and tilt of the PTU through Aria. However, we cannot pan the unit >> to the right for more than -51 degrees. >> During the initialization and the self-test, the unit can pan further >> than -51 degrees, so it is most likely not a hardware problem. There >> are no problems tilting the unit or panning it to the left. >> >> We think this is a very serious limitation. Has anyone experienced >> the >> same problem, and is there a solution for this? >> >> Thanks in advance! >> >> Matthijs Zwinderman >> _______________________________________________ >> 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 Mon Sep 8 16:23:21 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 08 Sep 2008 16:23:21 -0400 Subject: [Aria-users] PTU unit not panning fully to the right In-Reply-To: References: <750AB827-9443-4140-9375-7E348D99F759@gmail.com> <48C04487.6090708@mobilerobots.com> Message-ID: <48C589B9.5010308@mobilerobots.com> Hello, This is indeed a bug in ARIA (exposed, I think, by different scaling values for different revisions of the DPPTU hardware). You can fix it by increasing the size of buf[5] (to buf[8] say, that covers all reasonable values I think...) in ArDPPTUPacket::byteToBuf() (should be line 46 in Aria 2.5.1). You can then also change the sprintf(buf, ...) to snprintf(buf, 8, ...). The recompile ARIA. Let me know if this fixes it (or doesn't!) Reed Matthijs Zwinderman wrote: > Hi Reed and Zeb, > > I've tried sending commands to the PTU directly (using the following > command: "echo PP-3090 > /dev/ttyS1"). > This works, the PTU will pan fully to the right and also to any value > in between. > > However, using one of the example programs the PTU still fails to turn > completely. I am using the dpptuExample (modified to use the correct > serial port) and the " Aria/examples/demo" program. > As before, the PTU will pan and tilt, but not fully to the right. > > I have tried calibrating it to the center and resetting it with both > example programs, but still won't pan fully. > > Are there any other solutions I could try? > > I thank you for your quick replies, > > Matthijs > > Op 4 sep 2008, om 16:26 heeft Reed Hedges het volgende geschreven: > >> Hi Matthijs, >> >> ARIA should be able to pan it completely. Which ARIA example >> programs are you >> running? dpptuExample? Have you tried resetting the DPPTU or >> calibrating it to >> center using dpptuExample? >> >> Sorry I don't have any specific information, I don't know very much >> about the >> DPPTU myself. I'll ask around and see if I can come up with >> anything more. >> >> Reed >> >> >> >> Matthijs Zwinderman wrote: >>> Hi everybody, >>> >>> Currently we are working on a PeopleBot with a Bumblebee camera >>> mounted on the standard Directed Perceptions PTU, version PTU >>> 46-17.5. >>> We are using Aria version 2.5.1 >>> >>> When running either the demo or the PTU example, we can control the >>> pan and tilt of the PTU through Aria. However, we cannot pan the unit >>> to the right for more than -51 degrees. >>> During the initialization and the self-test, the unit can pan further >>> than -51 degrees, so it is most likely not a hardware problem. There >>> are no problems tilting the unit or panning it to the left. >>> >>> We think this is a very serious limitation. Has anyone experienced >>> the >>> same problem, and is there a solution for this? >>> >>> Thanks in advance! >>> >>> Matthijs Zwinderman From mzwinderman at gmail.com Mon Sep 8 17:10:46 2008 From: mzwinderman at gmail.com (Matthijs Zwinderman) Date: Mon, 8 Sep 2008 17:10:46 -0400 Subject: [Aria-users] PTU unit not panning fully to the right In-Reply-To: <48C589B9.5010308@mobilerobots.com> References: <750AB827-9443-4140-9375-7E348D99F759@gmail.com> <48C04487.6090708@mobilerobots.com> <48C589B9.5010308@mobilerobots.com> Message-ID: <5ECF481D-B3FE-4D74-9B81-1D7EF3F68A9B@gmail.com> Hi Reed, I have applied your changes to Aria, the pan- tilt-unit now works as expected! However, we are using Arnl as well and this uses a precompiled Aria library. Could you please tell me how to update this library? Thank you, Matthijs Op 8 sep 2008, om 16:23 heeft Reed Hedges het volgende geschreven: > > > Hello, > > This is indeed a bug in ARIA (exposed, I think, by different scaling > values for different revisions of the DPPTU hardware). You can fix > it by increasing the size of buf[5] (to buf[8] say, that covers all > reasonable values I think...) in ArDPPTUPacket::byteToBuf() (should > be line 46 in Aria 2.5.1). You can then also change the > sprintf(buf, ...) to snprintf(buf, 8, ...). The recompile ARIA. > > Let me know if this fixes it (or doesn't!) > > > Reed > > > > Matthijs Zwinderman wrote: >> Hi Reed and Zeb, >> I've tried sending commands to the PTU directly (using the >> following command: "echo PP-3090 > /dev/ttyS1"). >> This works, the PTU will pan fully to the right and also to any >> value in between. >> However, using one of the example programs the PTU still fails to >> turn completely. I am using the dpptuExample (modified to use the >> correct serial port) and the " Aria/examples/demo" program. >> As before, the PTU will pan and tilt, but not fully to the right. >> I have tried calibrating it to the center and resetting it with >> both example programs, but still won't pan fully. >> Are there any other solutions I could try? >> I thank you for your quick replies, >> Matthijs >> Op 4 sep 2008, om 16:26 heeft Reed Hedges het volgende geschreven: >>> Hi Matthijs, >>> >>> ARIA should be able to pan it completely. Which ARIA example >>> programs are you >>> running? dpptuExample? Have you tried resetting the DPPTU or >>> calibrating it to >>> center using dpptuExample? >>> >>> Sorry I don't have any specific information, I don't know very >>> much about the >>> DPPTU myself. I'll ask around and see if I can come up with >>> anything more. >>> >>> Reed >>> >>> >>> >>> Matthijs Zwinderman wrote: >>>> Hi everybody, >>>> >>>> Currently we are working on a PeopleBot with a Bumblebee camera >>>> mounted on the standard Directed Perceptions PTU, version PTU >>>> 46-17.5. >>>> We are using Aria version 2.5.1 >>>> >>>> When running either the demo or the PTU example, we can control the >>>> pan and tilt of the PTU through Aria. However, we cannot pan the >>>> unit >>>> to the right for more than -51 degrees. >>>> During the initialization and the self-test, the unit can pan >>>> further >>>> than -51 degrees, so it is most likely not a hardware problem. >>>> There >>>> are no problems tilting the unit or panning it to the left. >>>> >>>> We think this is a very serious limitation. Has anyone >>>> experienced the >>>> same problem, and is there a solution for this? >>>> >>>> Thanks in advance! >>>> >>>> Matthijs Zwinderman From eerobot.zhang at yahoo.com Thu Sep 11 17:55:51 2008 From: eerobot.zhang at yahoo.com (Robert Zhang) Date: Thu, 11 Sep 2008 14:55:51 -0700 (PDT) Subject: [Aria-users] How to use the getCurrentRangeBuffer function of ArSick class? Message-ID: <275179.73759.qm@web59205.mail.re1.yahoo.com> Dear all, I hope to read all laser range data from range buffer. I find a function named getCurrentRangeBuffer in ArSick class. I try to use it but the data is same as those obtained by getCurrentBuffer function. Could someone tell me what the difference is between these two functions. Thanks a lot. Regards, ZHANG -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080911/0ed104b9/attachment.html From reed at mobilerobots.com Fri Sep 12 08:18:14 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Sep 2008 08:18:14 -0400 Subject: [Aria-users] How to use the getCurrentRangeBuffer function of ArSick class? In-Reply-To: <275179.73759.qm@web59205.mail.re1.yahoo.com> References: <275179.73759.qm@web59205.mail.re1.yahoo.com> Message-ID: <48CA5E06.7010009@mobilerobots.com> Robert Zhang wrote: > Dear all, > > I hope to read all laser range data from range buffer. I find a function > named getCurrentRangeBuffer in ArSick class. I try to use it but the > data is same as those obtained by getCurrentBuffer function. Could > someone tell me what the difference is between these two functions. > The difference is that getCurrentRangeBuffer() returns the ArRangeBuffer object that is used to store the buffer, and various pieces of related information. getCurrentBuffer() returns a the contents of the range buffer's reading list (a std::list of pointers to ArPose objects: note that the ArPose objects are not copies, but pointers, and may be changed by the range device if running asynchronously, use lockDevice() and unlockDevice() while using them). If you just need the reading positions, use getCurrentBuffer(). If you need more information than that which is stored in the ArRangeBuffer class, use getCurrentRangeBuffer(). Reed From jyotikab83 at gmail.com Sat Sep 13 06:15:27 2008 From: jyotikab83 at gmail.com (Jyotika Bahuguna) Date: Sat, 13 Sep 2008 15:45:27 +0530 Subject: [Aria-users] ArPriorityResolver::resolve giving a SEG fault In-Reply-To: <48C51632.7010106@mobilerobots.com> References: <48C51632.7010106@mobilerobots.com> Message-ID: Hi, Thanks Reed for pointing out the problem even with the insufficient information. The pointer was indeed getting invalid because of the function returning. Thanks, Jyotika On 9/8/08, Reed Hedges wrote: > > Jyotika Bahuguna wrote: > > Hi, > > I am using the function : > > > > ArActionAvoidFront obstavd("avoid front obstacles",600,0,0,false); > > this->addAction(&obstavd, 55); > > > Hello, can you give more context for where you use this code? In what > function > and in what class? Note that ArRobot::addAction() stores the pointer > given, so > the ArAction object it points to must remain valid; if the code you give is > in a > function (method) and that function returns, obstavd will be destroyed and > the > pointer given to addAction() will no longer be valid. > > 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/20080913/f4afd830/attachment.html From lkwanghooi at yahoo.com Sun Sep 14 21:47:28 2008 From: lkwanghooi at yahoo.com (Kwang hooi) Date: 15 Sep 2008 01:47:28 -0000 Subject: [Aria-users] *****SPAM-E***** Kwang hooi invites you to join Zorpia Message-ID: <20080915014728.18086.qmail@zorpia.com> Hi aria ! Your friend Kwang hooi from , just invited you to his online photo albums and journals at Zorpia.com. So what is Zorpia? It is an online community that allows you to upload unlimited amount of photos, write journals and make friends. We also have a variety of skins in store for you so that you can customize your homepage freely. Join now for free! Please click the following link to join Zorpia: http://signup.zorpia.com/signup?invitation_key=20080509471bc278a37e1b07b062e070&referral=Kwanghooi This message was delivered with the Kwang hooi's initiation. If you wish to discontinue receiving invitations from us, please click the following link: http://signup.zorpia.com/email/optout/aria-users at activmedia.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080915/6a1e8ee2/attachment.html From awantha at ieee.org Thu Sep 18 18:40:08 2008 From: awantha at ieee.org (Awantha Jayasiri) Date: Thu, 18 Sep 2008 15:40:08 -0700 (PDT) Subject: [Aria-users] Mobile sim simulation problem in linux Message-ID: <252760.35099.qm@web37401.mail.mud.yahoo.com> Hi im using Aria Mobilesim in Linux platform for my project works. When i try to control the robot using direct motion commands in simulation the robot is just running 2,or 3 iterations and gets stuck when my code says abt 10 iterations. ill copy the code follows; // This is a simple program used to test the behaviours in ARIA #include "Aria.h" using namespace std; // The Main Program goes here int main(int argc, char** argv) ?{ ArSimpleConnector simpleConnector(&argc, argv); //The robot object ArRobot robot; ArKeyHandler keyHandler; // for key handling (ESC for exit...etc) ArSonarDevice sonarDevice; // sonar for adding to the robot // the keydrive action ? ArActionKeydrive keydriveAct; ? Aria::init();??? // Mandotary initialization Aria::setKeyHandler(&keyHandler);??? //lets aria knows we have a key handler robot.attachKeyHandler(&keyHandler);??? //attach key handler to the robot printf("Press ESC key anytime to exit. \n"); robot.addRangeDevice(&sonarDevice);??? //add sonar to robot //parses the command line. Fail and print the help if the parsing fails if(!simpleConnector.parseArgs() || argc>1) { simpleConnector.logOptions(); exit(1); } printf("This program implements the shyrobot. It will make the robot move away if there is an object near it. \n"); //Tries to connect to the robot and exit when it fails. if(!simpleConnector.connectRobot(&robot)) { printf("Sorry, could not connect to the robot.....exiting...\n"); Aria::shutdown(); return 1; } //Turns on the Motors, Turns off Amigobot sounds. robot.runAsync(true); robot.lock(); robot.comInt(ArCommands::ENABLE, 1); robot.unlock(); //robot.comInt(ArCommands::SOUNDTOG, 0); //robot.setHeading(90); //ArUtil::sleep(5000); //robot.move(1000); //ArUtil::sleep(5000); //robot.setHeading(180); //ArUtil::sleep(5000); //robot.move(1000); for(int a=0;a<5;a++) { robot.setDeltaHeading(90); while(1) { if (robot.isHeadingDone()) { printf("finished turning \n"); break; } ArUtil::sleep(50); } robot.move(1000); while (1) { if (robot.isMoveDone()) { printf("finished moving \n"); break; } ArUtil::sleep(50); } printf(" %d \n",a); } Aria::shutdown();?? //Shuts down Aria return 0; } Any help is greatly appreciated. thank you Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080918/375a21db/attachment.html From awantha at ieee.org Thu Sep 18 18:44:19 2008 From: awantha at ieee.org (Awantha Jayasiri) Date: Thu, 18 Sep 2008 15:44:19 -0700 (PDT) Subject: [Aria-users] General questions and comments of interest to the ARIA community. Message-ID: <781942.19411.qm@web37404.mail.mud.yahoo.com> Hi im using Aria Mobilesim in Linux platform for my project works. When i try to control the robot using direct motion commands in simulation the robot is just running 2,or 3 iterations and gets stuck when my code says abt 10 iterations. ill copy the code follows; // This is a simple program used to test the behaviours in ARIA #include "Aria.h" using namespace std; // The Main Program goes here int main(int argc, char** argv) ?{ ArSimpleConnector simpleConnector(&argc, argv); //The robot object ArRobot robot; ArKeyHandler keyHandler; // for key handling (ESC for exit...etc) ArSonarDevice sonarDevice; // sonar for adding to the robot // the keydrive action ? ArActionKeydrive keydriveAct; ? Aria::init();??? // Mandotary initialization Aria::setKeyHandler(&keyHandler);??? //lets aria knows we have a key handler robot.attachKeyHandler(&keyHandler);??? //attach key handler to the robot printf("Press ESC key anytime to exit. \n"); robot.addRangeDevice(&sonarDevice);??? //add sonar to robot //parses the command line. Fail and print the help if the parsing fails if(!simpleConnector.parseArgs() || argc>1) { simpleConnector.logOptions(); exit(1); } printf("This program implements the shyrobot. It will make the robot move away if there is an object near it. \n"); //Tries to connect to the robot and exit when it fails. if(!simpleConnector.connectRobot(&robot)) { printf("Sorry, could not connect to the robot.....exiting...\n"); Aria::shutdown(); return 1; } //Turns on the Motors, Turns off Amigobot sounds. robot.runAsync(true); robot.lock(); robot.comInt(ArCommands::ENABLE, 1); robot.unlock(); //robot.comInt(ArCommands::SOUNDTOG, 0); //robot.setHeading(90); //ArUtil::sleep(5000); //robot.move(1000); //ArUtil::sleep(5000); //robot.setHeading(180); //ArUtil::sleep(5000); //robot.move(1000); for(int a=0;a<5;a++) { robot.setDeltaHeading(90); while(1) { if (robot.isHeadingDone()) { printf("finished turning \n"); break; } ArUtil::sleep(50); } robot.move(1000); while (1) { if (robot.isMoveDone()) { printf("finished moving \n"); break; } ArUtil::sleep(50); } printf(" %d \n",a); } Aria::shutdown();?? //Shuts down Aria return 0; } Any help is greatly appreciated. thank you Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080918/96c359d9/attachment-0001.html From awantha at ieee.org Fri Sep 19 12:38:41 2008 From: awantha at ieee.org (Awantha Jayasiri) Date: Fri, 19 Sep 2008 09:38:41 -0700 (PDT) Subject: [Aria-users] MobileSim simulation problem in linux Message-ID: <249291.69889.qm@web37406.mail.mud.yahoo.com> Hi im using Aria Mobilesim in Linux platform for my project works. When i try to control the robot using direct motion commands in simulation the robot is just running 2,or 3 iterations and gets stuck when my code says abt 10 iterations. ill copy the code follows; // This is a simple program used to test the behaviours in ARIA #include "Aria.h" using namespace std; // The Main Program goes here int main(int argc, char** argv) ?{ ArSimpleConnector simpleConnector(&argc, argv); //The robot object ArRobot robot; ArKeyHandler keyHandler; // for key handling (ESC for exit...etc) ArSonarDevice sonarDevice; // sonar for adding to the robot // the keydrive action ? ArActionKeydrive keydriveAct; ? Aria::init();??? // Mandotary initialization Aria::setKeyHandler(&keyHandler);??? //lets aria knows we have a key handler robot.attachKeyHandler(&keyHandler);??? //attach key handler to the robot printf("Press ESC key anytime to exit. \n"); robot.addRangeDevice(&sonarDevice);??? //add sonar to robot //parses the command line. Fail and print the help if the parsing fails if(!simpleConnector.parseArgs() || argc>1) { simpleConnector.logOptions(); exit(1); } printf("This program implements the shyrobot. It will make the robot move away if there is an object near it. \n"); //Tries to connect to the robot and exit when it fails. if(!simpleConnector.connectRobot(&robot)) { printf("Sorry, could not connect to the robot.....exiting...\n"); Aria::shutdown(); return 1; } //Turns on the Motors, Turns off Amigobot sounds. robot.runAsync(true); robot.lock(); robot.comInt(ArCommands::ENABLE, 1); robot.unlock(); //robot.comInt(ArCommands::SOUNDTOG, 0); //robot.setHeading(90); //ArUtil::sleep(5000); //robot.move(1000); //ArUtil::sleep(5000); //robot.setHeading(180); //ArUtil::sleep(5000); //robot.move(1000); for(int a=0;a<5;a++) { robot.setDeltaHeading(90); while(1) { if (robot.isHeadingDone()) { printf("finished turning \n"); break; } ArUtil::sleep(50); } robot.move(1000); while (1) { if (robot.isMoveDone()) { printf("finished moving \n"); break; } ArUtil::sleep(50); } printf(" %d \n",a); } Aria::shutdown();?? //Shuts down Aria return 0; } Any help is greatly appreciated. thank you Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080919/0979f421/attachment.html From prybski at cs.cmu.edu Mon Sep 22 11:44:32 2008 From: prybski at cs.cmu.edu (Paul E. Rybski) Date: Mon, 22 Sep 2008 11:44:32 -0400 Subject: [Aria-users] how many people are using Linux and usb/serial devices? Message-ID: <48D7BD60.1060104@cs.cmu.edu> 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 -- 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 reed at mobilerobots.com Mon Sep 22 15:51:53 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 22 Sep 2008 15:51:53 -0400 Subject: [Aria-users] Mobile sim simulation problem in linux In-Reply-To: <252760.35099.qm@web37401.mail.mud.yahoo.com> References: <252760.35099.qm@web37401.mail.mud.yahoo.com> Message-ID: <48D7F759.9040805@mobilerobots.com> Awantha Jayasiri wrote: > Hi im using Aria Mobilesim in Linux platform for my project works. When > i try to control the robot using direct motion commands in simulation > the robot is just running 2,or 3 iterations and gets stuck when my code > says abt 10 iterations. ill copy the code follows; What do you mean by stuck? I increased the limit on your for loop from 5 to 50 and it performed all 50 iterations fine, driving in a square counter-clockwise. Is this the correct behavior? Reed Press ESC key anytime to exit. This program implements the shyrobot. It will make the robot move away if there is an object near it. Connecting to simulator through tcp. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Loaded robot parameters from p3dx.p finished turning finished moving 0 finished turning finished moving 1 finished turning finished moving 2 finished turning finished moving 3 finished turning finished moving 4 finished turning finished moving 5 finished turning finished moving 6 finished turning finished moving 7 finished turning finished moving 8 finished turning finished moving 9 finished turning finished moving 10 finished turning finished moving 11 finished turning finished moving 12 finished turning finished moving 13 finished turning finished moving 14 finished turning finished moving 15 finished turning finished moving 16 finished turning finished moving 17 finished turning finished moving 18 finished turning finished moving 19 finished turning finished moving 20 finished turning finished moving 21 finished turning finished moving 22 finished turning finished moving 23 finished turning finished moving 24 finished turning finished moving 25 finished turning finished moving 26 finished turning finished moving 27 finished turning finished moving 28 finished turning finished moving 29 finished turning finished moving 30 finished turning finished moving 31 finished turning finished moving 32 finished turning finished moving 33 finished turning finished moving 34 finished turning finished moving 35 finished turning finished moving 36 finished turning finished moving 37 finished turning finished moving 38 finished turning finished moving 39 finished turning finished moving 40 finished turning finished moving 41 finished turning finished moving 42 finished turning finished moving 43 finished turning finished moving 44 finished turning finished moving 45 finished turning finished moving 46 finished turning finished moving 47 finished turning finished moving 48 finished turning finished moving 49 Disconnecting from robot. From reed at mobilerobots.com Tue Sep 23 19:33:54 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 23 Sep 2008 19:33:54 -0400 Subject: [Aria-users] Announcing the new, improved robots.mobilerobots.com Message-ID: <48D97CE2.80909@mobilerobots.com> We would like to let you know that the MobileRobots developer support site has recently undergone a major update and invite you to check it out at . It includes almost everything that the old site contained (software downloads, all robot and accessory manuals, links to the mailing lists, etc.) plus much more -- especially the new Knowledge Base and FAQ, with answers to questions and pieces of technical information about robots, accessories and software. Use the "Knowledge Base" link to see the categories, or use the search box. We hope that this site provides you with an ever-improving information resource. You can help add to it -- a few pages have been started which are open to your additions and contributions, and we hope to develop this aspect of the site further based on your ideas and needs. See "Adding to this Site" for the starting point. What kinds of things would you want to share, and see shared by other developers, researchers, students, etc.? Example code? Tutorials and how-to documents? Some example teaching materials? Links to helpful resources on line, and bibliographies or reading lists of relevant books and papers? Let us know, or go ahead and add it. As this part of the site develops we can work on how to organize it best. If you have any problems or notice anything missing, incomplete or broken on this site, or have any suggestions for improving the site please let us know. The URL is (as before), . Thanks! Reed From wjxnet_126 at 126.com Wed Sep 24 10:10:07 2008 From: wjxnet_126 at 126.com (wjxnet_126) Date: Wed, 24 Sep 2008 22:10:07 +0800 (CST) Subject: [Aria-users] How to get the true relative distance between robots? Message-ID: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> hello, everyone! Recentrly the following problem bothers me. Using a control law, i want two robots have some desired distance and relative angle. The control law proves to be corrent under MobileSim. While operating on our P3-AT robots, which has no GPS installed, their final distance and relative angle seen by eyes are far from the desired one, even if the Printf function prints them to to be the desired one. I use ArNetworking to transfer a leader robot's states like X,Y,Th,Vel to the follower robot. The follower robot's own states are read by FollowerRobotInfo.X=myRobot->getRawEncoderPose().getX(); FollowerRobotInfo.Y=myRobot->getRawEncoderPose().getY(); FollowerRobotInfo.Th=myRobot->getRawEncoderPose().getTh(); FollowerRobotInfo.Vel=myRobot->getVel(); FollowerRobotInfo.RotVel=myRobot->getRotVel(); I am wondering maybe some errors occur on states readings, could you please tell me how to impove the precision of robots' states reading. Thanks a lot! Jianxin Wu -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080924/63a0e7d1/attachment.html From H.Miri at 2007.hull.ac.uk Mon Sep 29 07:09:51 2008 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Mon, 29 Sep 2008 12:09:51 +0100 Subject: [Aria-users] Logitech Quickcam Pro 4000 on AmigoBot (Linux FC4) Message-ID: <445800D8FD5D3D43878FD7D2842A3047899019@EXCL2VS2.adir.hull.ac.uk> Hello all, Has anyone installed a Logitech Quickcam Pro 4000 on a Linux machine before (FC 4)? To do image processing or implement an omni directional vision system in an AmigoBot, etc... There are loads of web pages with different instructions, and it is probably unwise to carry them all out on my Linux box. So wondering if someone has step-by-step instructions for the Linux driver. Josh --- . -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080929/f8109945/attachment-0001.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: not available Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080929/f8109945/attachment-0001.ksh From bladower at hotmail.com Tue Sep 30 06:49:28 2008 From: bladower at hotmail.com (Jose perez cara) Date: Tue, 30 Sep 2008 10:49:28 +0000 Subject: [Aria-users] measure the decibels with ArSpeech Message-ID: 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. A greeting. _________________________________________________________________ ?Sigue el calor? Consulta MSN El tiempo http://eltiempo.es.msn.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080930/943c7c0a/attachment.html From reed at mobilerobots.com Tue Sep 30 10:37:08 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 30 Sep 2008 10:37:08 -0400 Subject: [Aria-users] [Pioneer-users] How to get the true relative distance between robots? In-Reply-To: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> Message-ID: <48E23994.8080600@mobilerobots.com> Hi, all robots have some error in position estimated by encoders (odometry), but this is especially true with the AT which is a skid steer robot, and the wheels must slip over the ground for it to rotate (by comparison, the DX has more acurate odometric position estimate because the wheels only slip sometimes, and in small amounts). MobileSim has some artificial error applied uniformly, but on a real robot it may be greater, and will vary depending on how it moves and over what kind of surfaces. If your AT has a gyro, then it will automatically improve the heading estimate but won't make it perfect. But to have the most accurate positioning you need some kind of localization based on a sensor or other external reference. You could try slowing the robot down, especially when rotating. Other people on this list may have found some speed parameters that might have helped a bit. Anyone have any advice? Reed wjxnet_126 wrote: > hello, everyone! > > Recentrly the following problem bothers me. Using a control law, i want two robots have some desired distance and relative > angle. The control law proves to be corrent under MobileSim. While operating on our P3-AT robots, which has no GPS installed, their final distance and relative angle seen by eyes are far from the desired one, even if the Printf function prints them to to be the desired one. I use ArNetworking to transfer a leader robot's states like X,Y,Th,Vel to the follower robot. The follower robot's own states are read by > > FollowerRobotInfo.X=myRobot->getRawEncoderPose().getX(); > FollowerRobotInfo.Y=myRobot->getRawEncoderPose().getY(); > FollowerRobotInfo.Th=myRobot->getRawEncoderPose().getTh(); > FollowerRobotInfo.Vel=myRobot->getVel(); > FollowerRobotInfo.RotVel=myRobot->getRotVel(); > > I am wondering maybe some errors occur on states readings, could you please tell me how to impove the precision of robots' states reading. Thanks a lot! > > > Jianxin Wu > > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Tue Sep 30 10:58:14 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 30 Sep 2008 10:58:14 -0400 Subject: [Aria-users] how many people are using Linux and usb/serial devices? In-Reply-To: <48D7BD60.1060104@cs.cmu.edu> References: <48D7BD60.1060104@cs.cmu.edu> Message-ID: <48E23E86.6020508@mobilerobots.com> 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 > From prybski at cs.cmu.edu Tue Sep 30 11:21:02 2008 From: prybski at cs.cmu.edu (Paul E. Rybski) Date: Tue, 30 Sep 2008 11:21:02 -0400 Subject: [Aria-users] how many people are using Linux and usb/serial devices? In-Reply-To: <48E23E86.6020508@mobilerobots.com> References: <48D7BD60.1060104@cs.cmu.edu> <48E23E86.6020508@mobilerobots.com> Message-ID: <48E243DE.3070909@cs.cmu.edu> 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 The Robotics Institute, Carnegie Mellon University Phone: 412-268-7417, Fax: 412-268-7350 Web: http://www.cs.cmu.edu/~prybski From mark.villela at honeywell.com Tue Sep 30 12:53:59 2008 From: mark.villela at honeywell.com (Villela, Mark (AZ76)) Date: Tue, 30 Sep 2008 12:53:59 -0400 Subject: [Aria-users] [Pioneer-users] How to get the true relative distance between robots? In-Reply-To: <48E23994.8080600@mobilerobots.com> References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> <48E23994.8080600@mobilerobots.com> Message-ID: <185D4C2D7574EA42B3F5B3CF78B1B94F01AA6FAC@DE08EV802.global.ds.honeywell.com> I guess it all depends on how much you want to spend on a sensor to track your heading and position. Here I provide a couple of fairly affordable solutions: Honeywell has been using P3-ATs in its "Matrix"-like test bed, where real robots interact with virtual robots, real terrain, and virtual terrain. For that to be possible, the robot's position and heading needs to be tracked with 'good' resolution. We are operating in a 455 square meters moonyard (soon to expand to 900 square meters). Users can find papers where a robot (or robots) position is tracked using an overhead camera, which is the approach we used. Heading determination took a little more work, but a combination of electronic compass with onboard gyro, and overhead tracking, provided an acceptable solution. The trick was to use sensors to periodically correct the onboard gyro, which prevents the gyro's readings from drifting to an unacceptable amount. With the above technique, you can track the robot as long as your power source holds up. If you hot swap the batteries, you can run 'indefinitely'. If using an overhead camera is not feasible, you can just use an inexpensive electronic compass to periodically correct the on-board gyro. Caution: some compasses are very sensitive to vibration, so you may have to stop the robot and wait for the compass to stabilize, before each compass reading. If someone out there knows of a fairly inexpensive heading sensor which is not too sensitive to vibration and tilt, I would like to hear from them. -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 7:37 AM Cc: pioneer-users; aria-users Subject: Re: [Aria-users] [Pioneer-users] How to get the true relative distance between robots? Hi, all robots have some error in position estimated by encoders (odometry), but this is especially true with the AT which is a skid steer robot, and the wheels must slip over the ground for it to rotate (by comparison, the DX has more acurate odometric position estimate because the wheels only slip sometimes, and in small amounts). MobileSim has some artificial error applied uniformly, but on a real robot it may be greater, and will vary depending on how it moves and over what kind of surfaces. If your AT has a gyro, then it will automatically improve the heading estimate but won't make it perfect. But to have the most accurate positioning you need some kind of localization based on a sensor or other external reference. You could try slowing the robot down, especially when rotating. Other people on this list may have found some speed parameters that might have helped a bit. Anyone have any advice? Reed wjxnet_126 wrote: > hello, everyone! > > Recentrly the following problem bothers me. Using a control law, i > want two robots have some desired distance and relative angle. The > control law proves to be corrent under MobileSim. While operating on > our P3-AT robots, which has no GPS installed, their final distance and > relative angle seen by eyes are far from the desired one, even if the > Printf function prints them to to be the desired one. I use > ArNetworking to transfer a leader robot's states like X,Y,Th,Vel to > the follower robot. The follower robot's own states are read by > > FollowerRobotInfo.X=myRobot->getRawEncoderPose().getX(); > FollowerRobotInfo.Y=myRobot->getRawEncoderPose().getY(); > FollowerRobotInfo.Th=myRobot->getRawEncoderPose().getTh(); > FollowerRobotInfo.Vel=myRobot->getVel(); > FollowerRobotInfo.RotVel=myRobot->getRotVel(); > > I am wondering maybe some errors occur on states readings, could you please tell me how to impove the precision of robots' states reading. Thanks a lot! > > > Jianxin Wu > > > > > > ---------------------------------------------------------------------- > -- > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From mark.villela at honeywell.com Tue Sep 30 13:24:06 2008 From: mark.villela at honeywell.com (Villela, Mark (AZ76)) Date: Tue, 30 Sep 2008 13:24:06 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> <48E23994.8080600@mobilerobots.com> Message-ID: <185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com> 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? 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 7:37 AM Cc: pioneer-users; aria-users Subject: Re: [Aria-users] [Pioneer-users] How to get the true relative distance between robots? Hi, all robots have some error in position estimated by encoders (odometry), but this is especially true with the AT which is a skid steer robot, and the wheels must slip over the ground for it to rotate (by comparison, the DX has more acurate odometric position estimate because the wheels only slip sometimes, and in small amounts). MobileSim has some artificial error applied uniformly, but on a real robot it may be greater, and will vary depending on how it moves and over what kind of surfaces. If your AT has a gyro, then it will automatically improve the heading estimate but won't make it perfect. But to have the most accurate positioning you need some kind of localization based on a sensor or other external reference. You could try slowing the robot down, especially when rotating. Other people on this list may have found some speed parameters that might have helped a bit. Anyone have any advice? Reed wjxnet_126 wrote: > hello, everyone! > > Recentrly the following problem bothers me. Using a control law, i > want two robots have some desired distance and relative angle. The > control law proves to be corrent under MobileSim. While operating on > our P3-AT robots, which has no GPS installed, their final distance and > relative angle seen by eyes are far from the desired one, even if the > Printf function prints them to to be the desired one. I use > ArNetworking to transfer a leader robot's states like X,Y,Th,Vel to > the follower robot. The follower robot's own states are read by > > FollowerRobotInfo.X=myRobot->getRawEncoderPose().getX(); > FollowerRobotInfo.Y=myRobot->getRawEncoderPose().getY(); > FollowerRobotInfo.Th=myRobot->getRawEncoderPose().getTh(); > FollowerRobotInfo.Vel=myRobot->getVel(); > FollowerRobotInfo.RotVel=myRobot->getRotVel(); > > I am wondering maybe some errors occur on states readings, could you please tell me how to impove the precision of robots' states reading. Thanks a lot! > > > Jianxin Wu > > > > > > ---------------------------------------------------------------------- > -- > > _______________________________________________ > Pioneer-users mailing list > Pioneer-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/pioneer-users > > To unsubscribe visit the above webpage or send an e-mail to: > > pioneer-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Tue Sep 30 15:25:20 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 30 Sep 2008 15:25:20 -0400 Subject: [Aria-users] Packet Drops using DEMO.EXE In-Reply-To: <185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com> References: <14871269.439711222265407801.JavaMail.coremail@bj126app57.126.com> <48E23994.8080600@mobilerobots.com> <185D4C2D7574EA42B3F5B3CF78B1B94F01ADC0D7@DE08EV802.global.ds.honeywell.com> Message-ID: <48E27D20.3040503@mobilerobots.com> 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 From trinathp at gmail.com Tue Sep 30 16:13:36 2008 From: trinathp at gmail.com (trinath polisetty) Date: Tue, 30 Sep 2008 16:13:36 -0400 Subject: [Aria-users] need help with advanced.cpp Message-ID: I am trying to run my P3DX with advanced.cpp in arnl\examples. I found no documentation for that code. But I made project for advanced.cpp and built. .exe is created in arnl\bin folder. I started the mobilesim and ran .exe for advanced. Map is loaded, localization thread starts but path planning has intialization problems. Can you plz help me. -- trinath p -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20080930/99afa7fc/attachment.html From reed at mobilerobots.com Tue Sep 30 16:17:55 2008 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 30 Sep 2008 16:17:55 -0400 Subject: [Aria-users] need help with advanced.cpp In-Reply-To: References: Message-ID: <48E28973.70604@mobilerobots.com> Hello, What are the initialization problems? What messages does it print out? Reed trinath polisetty wrote: > I am trying to run my P3DX with advanced.cpp in arnl\examples. I found no > documentation for that code. But I made project for advanced.cpp and built. > .exe is created in arnl\bin folder. I started the mobilesim and ran .exe for > advanced. Map is loaded, localization thread starts but path planning has > intialization problems. Can you plz help me. > >