From ranjit_ray90 at yahoo.com Thu Apr 2 05:18:50 2009 From: ranjit_ray90 at yahoo.com (Ranjit Ray) Date: Thu, 2 Apr 2009 14:48:50 +0530 (IST) Subject: [Aria-users] unexpected 'class ArSoundsQueue::Item (' Message-ID: <751856.99472.qm@web95412.mail.in2.yahoo.com> Dear Pioneer Member, Long back, we have puchased one Pioneer P3-DX model, serial no EHB_2091 with laser and sonar sensor. No camera was there. Recently, we have procured bumblebee camera with the necessary accessaries like SBC, WinXP preloaded hard disk and installed it. It was working fine using ARIA. But due to some OS problem, recently we have formatted the hard disk and freshly installed the ARIA. Now while compliling, every time I am getting?two error as follows ? "ipthru.cpp c:\program files\mobilerobots\aria\include\arsoundsqueue.h(98) : error C2629: unexpected 'class ArSoundsQueue::Item (' c:\program files\mobilerobots\aria\include\arsoundsqueue.h(98) : error C2238: unexpected token(s) preceding ';' Error executing cl.exe. ipthru.obj - 2 error(s), 0 warning(s)". ? We rechecked the hardware installation for sound system. We have seen that the speaker is connected with SBC, but the four pin audio connection from SBC is not connected any where. We are confused wheather that the audio connector will be connected some where or it is missing appropriate device driver. Please help us. With regards, Ranjit Ray Robotics & Automation Division Central Mechanical Engineering Research Institute Mahatma Gandhi Avenue, Durgapur-713209 West Bengal,India Check out the all-new Messenger 9.0! Go to http://in.messenger.yahoo.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090402/e1f0bd67/attachment.html From reed at mobilerobots.com Thu Apr 2 09:40:30 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 02 Apr 2009 09:40:30 -0400 Subject: [Aria-users] unexpected 'class ArSoundsQueue::Item (' In-Reply-To: <751856.99472.qm@web95412.mail.in2.yahoo.com> References: <751856.99472.qm@web95412.mail.in2.yahoo.com> Message-ID: <49D4C04E.4060906@mobilerobots.com> Hi Ranjit, > > "ipthru.cpp > c:\program files\mobilerobots\aria\include\arsoundsqueue.h(98) : error > C2629: unexpected 'class ArSoundsQueue::Item (' > c:\program files\mobilerobots\aria\include\arsoundsqueue.h(98) : error > C2238: unexpected token(s) preceding ';' > Error executing cl.exe. > ipthru.obj - 2 error(s), 0 warning(s)". This is a syntax error in newer compilers. The error was fixed in ARIA 2.5. Or, if you don't want to upgrade, you can edit ArSoundsQueue.h and change "class ArSoundsQueue::Item" to "class Item". All robot computers have the PC speaker hooked up (so you can hear BIOS beeps) but to use real sound playback using the computer's integrated sound card, you will need to add speakers and perhaps an amplifier if your robot didn't come with that option. You can buy a sound kit from us, or add your own. Contact support at mobilerobots.com for details on that. Reed From tsokas at ekt.gr Wed Apr 8 13:08:02 2009 From: tsokas at ekt.gr (tsokas at ekt.gr) Date: Wed, 8 Apr 2009 20:08:02 +0300 (EEST) Subject: [Aria-users] (no subject) Message-ID: <5fd7cc58b35d570e51ceb30e62f5fa0c.squirrel@webmail.ekt.gr> Hi all, I was wondering if, given ARIA is operating on a client-server architecture, I can have two separate applications accessing the robot through their own ARIA's ArRobot objects. I tried to run my own application that simply logs the robot's Pose down to a file. Then, from a second terminal, I run "demo" and teleoperated the robot for a while. Eventually both applications worked, but there were some warning messages from ArRobotPacketReceiver complaining, or something like "No packet handler wanted packet with ID: 0x20". Should I follow this kind of ("multi-application") approach or should I rather fit all functionality in one program? Any ideas on this? Thank you. Nicolas Nicolas Tsokas National Technical University of Athens Greece From tsokas at ekt.gr Wed Apr 8 13:08:16 2009 From: tsokas at ekt.gr (tsokas at ekt.gr) Date: Wed, 8 Apr 2009 20:08:16 +0300 (EEST) Subject: [Aria-users] Two applications accessing the robot Message-ID: Hi all, I was wondering if, given ARIA is operating on a client-server architecture, I can have two separate applications accessing the robot through their own ARIA's ArRobot objects. I tried to run my own application that simply logs the robot's Pose down to a file. Then, from a second terminal, I run "demo" and teleoperated the robot for a while. Eventually both applications worked, but there were some warning messages from ArRobotPacketReceiver complaining, or something like "No packet handler wanted packet with ID: 0x20". Should I follow this kind of ("multi-application") approach or should I rather fit all functionality in one program? Any ideas on this? Thank you. Nicolas Nicolas Tsokas National Technical University of Athens Greece From reed at mobilerobots.com Thu Apr 9 12:35:13 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 09 Apr 2009 12:35:13 -0400 Subject: [Aria-users] P3-DX on SUSE 11.1 (i586) and gcc-4 In-Reply-To: <109BE736FE7F414ABA91B99A048FBC3A4B6DEA@EXCL1VS2.adir.hull.ac.uk> References: <109BE736FE7F414ABA91B99A048FBC3A4B6DEA@EXCL1VS2.adir.hull.ac.uk> Message-ID: <49DE23C1.5000603@mobilerobots.com> If you are only using the ARIA libraries, you can recompile them with gcc 4. Make sure to recompile all the libraries, including ArNetworking. If you are using ARNL, however, you must use gcc 3.4, since it can't be recompiled (no source code). You can try to find a special gcc-3.4 package for SUSE, or you can download and compile gcc 3.4 from gcc.gnu.org. If you configure it with something like --prefix=/usr/local/gcc-3.4, then install it there, it will be kept separate from the normal SUSE compiler, and you can use gcc 3.4 by setting CXX=/usr/local/gcc-3.4/bin/g++ enironment variable. (The ARIA README.txt file and http://robots.mobilerobots.com/wiki/Linux_C%2B%2B_Compilers have more information.) Reed Hossein Miri wrote: > > Hello all, > > I have just started using a P3-DX on an openSUSE 11.1 (i586). I went > into the Examples folder and typed in: make clean; make > > to compile the sample programs and then run demo.cpp but I got an error > message that part of it said: > > make[1]: g++: Command not found > > So I figured it must be the fact that ARIA works only with gcc-3.4 > > So I went to YaST and then Software Management to install it, but I > couldn't seem to find this version. > > Considering that I currently have Linux version 2.6.27.19-3.2 (gcc > version 4.3.2 [gcc-4_3-branch revision 141291] (SUSE Linux), how can I > safely and properly replace my gcc compiler with the one that ARIA works > fine with? > > Thanks, > > > > > > ------------------------------------------------------------------------ > > ***************************************************************************************** > To view the terms under which this email is distributed, please go to http://www.hull.ac.uk/legal/email_disclaimer.html > ***************************************************************************************** From dlyons at fordham.edu Thu Apr 9 14:17:03 2009 From: dlyons at fordham.edu (DAMIAN M. LYONS) Date: Thu, 9 Apr 2009 14:17:03 -0400 Subject: [Aria-users] Latest windows version of Python wrappers Message-ID: Hello I notice when try to use the python wrappers on windows, I get the following unusual message: Traceback (most recent call last): File "C:\Program Files\MobileRobots\Aria\pythonExamples\simple.py", line 26, in ? from AriaPy import * File "C:\Program Files\MobileRobots\Arnl\python\AriaPy.py", line 12306, in ? TIOGETTIMESTAMP = _AriaPy.TIOGETTIMESTAMP AttributeError: 'module' object has no attribute 'TIOGETTIMESTAMP' If I comment out the offending lines in AriaPy.pc it seems to work fine. I'm using python 2.4, Aria 2.5.1, Arnl 2.5.1 Any idea whats up? thanks Damian Prof. D. M. Lyons Dept. of Computer & Information Science 340 JMH Fordham University 441 E.Fordham Rd Bronx NY 10458 PH: (718) 817 4485 FX:(718)817-4488 EM: dlyons at cis.fordham.edu http://www.cis.fordham.edu From dlyons at fordham.edu Thu Apr 9 19:28:37 2009 From: dlyons at fordham.edu (DAMIAN M. LYONS) Date: Thu, 9 Apr 2009 19:28:37 -0400 Subject: [Aria-users] getVideoExample Message-ID: I notice that if I run getVideoExample, the lines using the argument getPictureCam1 just give rise to error messages from the savServer. I see that it wants to use the sendVideo command not getPictureCam1. Is sendVideo the argument I should use and is it documented anywhere? thanks Damian From reed at mobilerobots.com Fri Apr 10 16:10:24 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 10 Apr 2009 16:10:24 -0400 Subject: [Aria-users] Latest windows version of Python wrappers In-Reply-To: References: Message-ID: <49DFA7B0.9020905@mobilerobots.com> Thanks, I'll look into it. Just based on the error messages, it means that AriaPy.py thinks that the Aria library has such a symbol (looks like a constant of some kind), but it really doesn't, in other words the Python part of the wrapper is out of sync with the native compiled C++ part. Does this problem happen on a fresh installation, or did you rebuild ARIA or any part of the wrappers? Reed DAMIAN M. LYONS wrote: > > Hello > > I notice when try to use the python wrappers on windows, I get the > following unusual message: > > Traceback (most recent call last): > File "C:\Program Files\MobileRobots\Aria\pythonExamples\simple.py", line > 26, in ? > from AriaPy import * > File "C:\Program Files\MobileRobots\Arnl\python\AriaPy.py", line 12306, > in ? > TIOGETTIMESTAMP = _AriaPy.TIOGETTIMESTAMP > AttributeError: 'module' object has no attribute 'TIOGETTIMESTAMP' > > If I comment out the offending lines in AriaPy.pc it seems to work fine. > I'm using python 2.4, Aria 2.5.1, Arnl 2.5.1 > > Any idea whats up? > > thanks > > Damian > > > > > > > Prof. D. M. Lyons > Dept. of Computer & Information Science > 340 JMH Fordham University > 441 E.Fordham Rd Bronx NY 10458 > PH: (718) 817 4485 FX:(718)817-4488 > EM: dlyons at cis.fordham.edu > http://www.cis.fordham.edu > > _______________________________________________ > 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 Apr 10 16:31:46 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 10 Apr 2009 16:31:46 -0400 Subject: [Aria-users] Two applications accessing the robot In-Reply-To: References: Message-ID: <49DFACB2.1000104@mobilerobots.com> Hi Nicolas, Only one program can access the robot at a time. What will happen if two are reading from the serial port is that one program will get some packets or even parts of packets (fragments) and the same for the other, leading to lost and inconsistant data. Similar for sending commands, if two programs write simultaneously the data can get intermixed resulting in corrupted packets that the robot will ignore. So it's "client server" in the sense that one client program connects up to the always-available robot firmware and makes requests, but not in the sense that multiple clients can do so as with Internet servers. However, you can use ArNetworking for intercommunication between multiple programs. One program would be the robot's client and do robot communication, but it could provide information to other programs (as an ArNetworking server). If you can put all functions in one program, though, then that might be a bit easier. (On a related note, there is nothing stopping one program from having mulitple ArRobot objects and connect to multiple robots. This architecture mainly makes sense if you are connecting remotely with the program running on some off-board computer, rather than on any one robot's onboard computers, of course.) Reed tsokas at ekt.gr wrote: > Hi all, > > I was wondering if, given ARIA is operating on a client-server > architecture, I can have two separate applications accessing the robot > through their own ARIA's ArRobot objects. > > I tried to run my own application that simply logs the robot's Pose down > to a file. Then, from a second terminal, I run "demo" and teleoperated the > robot for a while. > > Eventually both applications worked, but there were some warning messages > from ArRobotPacketReceiver complaining, or something like "No packet > handler wanted packet with ID: 0x20". > > Should I follow this kind of ("multi-application") approach or should I > rather fit all functionality in one program? Any ideas on this? > > Thank you. > > Nicolas > > Nicolas Tsokas > National Technical University of Athens > Greece > > > _______________________________________________ > 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 Apr 10 16:37:02 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 10 Apr 2009 16:37:02 -0400 Subject: [Aria-users] getVideoExample In-Reply-To: References: Message-ID: <49DFADEE.7060407@mobilerobots.com> Hi, getPictureCam1 is a new request that newer servers than savServer have, sendVideo is the old way. So if you are using savServer you should use sendVideo. One thing you can do is use the dataExists() function to check if getPictureCam1 exists, and if it doesn't, use sendVideo instead. The packet formats are basically the same, so you can use the same method to handle the packets I think. (I'll fix getVideoExample as well to do this in the future.) Reed DAMIAN M. LYONS wrote: > > I notice that if I run getVideoExample, the lines using the argument > getPictureCam1 just give rise to error messages from the savServer. > I see that it wants to use the sendVideo command not getPictureCam1. > Is sendVideo the argument I should use and is it documented anywhere? > > thanks > > Damian > > > _______________________________________________ > 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 aria-users at mobilerobots.com Mon Apr 13 00:18:47 2009 From: aria-users at mobilerobots.com (VIAGRA ® Official Site) Date: Mon, 13 Apr 2009 05:18:47 +0100 Subject: [Aria-users] *****SPAM-E***** RE: Dear aria-users@mobilerobots.com Pharmacy Message ID958095 Message-ID: <20090413061847.2337.qmail@amerblind.outbound.ed10.com> An HTML attachment was scrubbed... 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From reed at mobilerobots.com Tue Apr 14 10:02:19 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 14 Apr 2009 10:02:19 -0400 Subject: [Aria-users] P3-DX on SUSE 11.1 (i586) In-Reply-To: <109BE736FE7F414ABA91B99A048FBC3A4B6DEB@EXCL1VS2.adir.hull.ac.uk> References: <109BE736FE7F414ABA91B99A048FBC3A4B6DEA@EXCL1VS2.adir.hull.ac.uk> <49DE23C1.5000603@mobilerobots.com> <109BE736FE7F414ABA91B99A048FBC3A4B6DEB@EXCL1VS2.adir.hull.ac.uk> Message-ID: <49E4976B.9040604@mobilerobots.com> Hi, This is a bug in ARIA 1.5 Add any of the following which are missing at the top of ariaUtil.h to fix: #include #include #include #include #include #include #include #include It will be fixed in ARIA 1.7. Hossein Miri wrote: > > Hello all, > > I am using a P3-DX on a SUSE 11.1 (i586). On a fresh install, when I go > into ARIA'a examples directory and run a make, I get the following > error. Should I actually go through all the .h files that it's > complaining about? > > > > make > > make -C .. lib/libAria.so > make[1]: Entering directory `/usr/local/Aria' > g++ -c -fPIC -g -Wall -D_REENTRANT -fno-exceptions -Iinclude > src/ArAction.cpp -o obj/ArAction.o > In file included from include/ArActionDesired.h:29, > from include/ArResolver.h:30, > from src/ArAction.cpp:28: > include/ariaUtil.h: In static member function ?static int > ArMath::roundInt(double)?: > include/ariaUtil.h:437: error: ?INT_MAX? was not declared in this scope > include/ariaUtil.h:439: error: ?INT_MIN? was not declared in this scope > include/ariaUtil.h: In static member function ?static long int > ArMath::random()?: > include/ariaUtil.h:481: error: ?lrand48? was not declared in this scope > include/ariaUtil.h: In member function ?void ArTime::addMSec(long int)?: > include/ariaUtil.h:777: error: ?abs? was not declared in this scope > include/ariaUtil.h: In member function ?bool > ArStrCaseCmpOp::operator()(const std::string&, const std::string&) const?: > include/ariaUtil.h:1131: error: ?strcasecmp? was not declared in this scope > In file included from include/ArAction.h:30, > from src/ArAction.cpp:29: > include/ArArg.h: At global scope: > include/ArArg.h:71: error: ?INT_MIN? was not declared in this scope > include/ArArg.h:72: error: ?INT_MAX? was not declared in this scope > In file included from include/ArRobot.h:37, > from src/ArAction.cpp:31: > include/ArCondition.h:50: warning: ?typedef? was ignored in this declaration > In file included from include/ArConfig.h:29, > from include/ArRobotParams.h:30, > from include/ArRobot.h:39, > from src/ArAction.cpp:31: > include/ArConfigArg.h:74: error: ?INT_MIN? was not declared in this scope > include/ArConfigArg.h:75: error: ?INT_MAX? was not declared in this scope > include/ArConfigArg.h:79: error: ?SHRT_MIN? was not declared in this scope > include/ArConfigArg.h:80: error: ?SHRT_MAX? was not declared in this scope > include/ArConfigArg.h:85: error: ?USHRT_MAX? was not declared in this scope > include/ArConfigArg.h:106: error: ?INT_MIN? was not declared in this scope > include/ArConfigArg.h:107: error: ?INT_MAX? was not declared in this scope > src/ArAction.cpp: In member function ?virtual void ArAction::log(bool) > const?: > src/ArAction.cpp:129: error: ?strlen? was not declared in this scope > make[1]: *** [obj/ArAction.o] Error 1 > make[1]: Leaving directory `/usr/local/Aria' > make: *** [lib] Error 2 > > > > > > . > > > ------------------------------------------------------------------------ > > ***************************************************************************************** > To view the terms under which this email is distributed, please go to http://www.hull.ac.uk/legal/email_disclaimer.html > ***************************************************************************************** From khoanqv at yahoo.com.vn Fri Apr 17 22:28:05 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Sat, 18 Apr 2009 10:28:05 +0800 (SGT) Subject: [Aria-users] USB Message-ID: <788867.96555.qm@web76013.mail.sg1.yahoo.com> ?Hi everyone, I am using P3-AT with the onboard computer ( Debian). There are a usb port behind the LMS200. So I want to ask you how to connect the flash drive through this port in Debian operation (I usually program in my laptop and I want copy the code to the onboard computer through my flash drive). Please help me. Thank a lot H?nh th?c c?a ng??i ??n ?ng c? quan tr?ng ??i v?i ph? n? kh?ng? T?m c?u tr? l?i t?i Yahoo! H?i & ??p. http://vn.answers.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090418/6c242028/attachment-0001.html From bit_robot at 163.com Sat Apr 18 01:57:27 2009 From: bit_robot at 163.com (bit_robot) Date: Sat, 18 Apr 2009 14:57:27 +0900 Subject: [Aria-users] The displayer cannot receive any signal Message-ID: <200904181457218903749@163.com> hello There are seems some problem with our pioneer 3 robot. The problem is, when we start the on-board pc of the robot, the displayer cannot receive any signal. We are sure there is no problem with the displayer. I tried several times but it still can not work. I really appricate your kind help or suggestions. the basic information for the robot: model: p3-at serial number: FH__2357 (when we start the pc on the roobt, the indicator light of the harddisk , the power and the keyboard is on.) Thank you very much! Best wishes! bit_robot 2009-04-18 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090418/d7a0df73/attachment.html From dlyons at fordham.edu Sat Apr 18 13:30:25 2009 From: dlyons at fordham.edu (DAMIAN M. LYONS) Date: Sat, 18 Apr 2009 13:30:25 -0400 Subject: [Aria-users] Aria-users Digest, Vol 12, Issue 2 In-Reply-To: References: Message-ID: Hi Reed No, I haven't recompiled or rebuild anything. This happens with a straight install of the windows Aria, Arnl and Mobilesim from the installataion disk onto windows (I get the error in Windows 2K, XP and Vista). In fact my earlier optimism about my hack was unfounded, it seems to cause Mobilesim some problems when I use lock and unlock, but at least it does run. thanks Damian ------------------------------------------------------------------- Message: 2 Date: Fri, 10 Apr 2009 16:10:24 -0400 From: Reed Hedges Subject: Re: [Aria-users] Latest windows version of Python wrappers Cc: aria-users at lists.mobilerobots.com Message-ID: <49DFA7B0.9020905 at mobilerobots.com> Content-Type: text/plain; charset=UTF-8; format=flowed Thanks, I'll look into it. Just based on the error messages, it means that AriaPy.py thinks that the Aria library has such a symbol (looks like a constant of some kind), but it really doesn't, in other words the Python part of the wrapper is out of sync with the native compiled C++ part. Does this problem happen on a fresh installation, or did you rebuild ARIA or any part of the wrappers? Reed DAMIAN M. LYONS wrote: > > Hello > > I notice when try to use the python wrappers on windows, I get the > following unusual message: > > Traceback (most recent call last): > File "C:\Program Files\MobileRobots\Aria\pythonExamples\simple.py", line > 26, in ? > from AriaPy import * > File "C:\Program Files\MobileRobots\Arnl\python\AriaPy.py", line 12306, > in ? > TIOGETTIMESTAMP = _AriaPy.TIOGETTIMESTAMP > AttributeError: 'module' object has no attribute 'TIOGETTIMESTAMP' > > If I comment out the offending lines in AriaPy.pc it seems to work fine. > I'm using python 2.4, Aria 2.5.1, Arnl 2.5.1 > > Any idea whats up? > > thanks > > Damian > > > > > > > Prof. D. M. Lyons > Dept. of Computer & Information Science > 340 JMH Fordham University > 441 E.Fordham Rd Bronx NY 10458 > PH: (718) 817 4485 FX:(718)817-4488 > EM: dlyons at cis.fordham.edu > http://www.cis.fordham.edu > > _______________________________________________ > 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 > Prof. D. M. Lyons Dept. of Computer & Information Science 340 JMH Fordham University 441 E.Fordham Rd Bronx NY 10458 PH: (718) 817 4485 FX:(718)817-4488 EM: dlyons at cis.fordham.edu http://www.cis.fordham.edu http://www.cis.fordham.edu/rcvlab http://www.cis.fordham.edu/~lyons From roboticsericcarter at gmail.com Sat Apr 18 19:34:34 2009 From: roboticsericcarter at gmail.com (Eric Carter) Date: Sat, 18 Apr 2009 19:34:34 -0400 Subject: [Aria-users] Send commands from Matlab Message-ID: <34ebd4740904181634v76873bd4odfc65added9654e@mail.gmail.com> Hello all, I want to send just basic commands for the Anigorobot like left, right, upward, backward by an contol algorithm that I implemented in Matlab using eye bio signals. I don't want to go into detail about calling ARIA from Matlab as far as I search it's a bit tough issue. All i need is to be able to run an exe like demo.exe and give keyboard commands to that program from Matlab. However these commands should be automated instead of the manual. Does anybody have an idea about how can I achive this easily ? Can I send just TCP sockets directly to the robot to achive this ? Thanks for any idea Eric -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090418/425e891a/attachment.html From reed at mobilerobots.com Mon Apr 20 08:36:45 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 20 Apr 2009 08:36:45 -0400 Subject: [Aria-users] Send commands from Matlab In-Reply-To: <34ebd4740904181634v76873bd4odfc65added9654e@mail.gmail.com> References: <34ebd4740904181634v76873bd4odfc65added9654e@mail.gmail.com> Message-ID: <49EC6C5D.8070803@mobilerobots.com> Hi Eric, Aria has an ArSocket class that abtracts the OS sockets API a bit, and it also has a class called ArNetServer which splits input from a socket on newline/carriage return and calls callback functions (based on the first word) with that line split into words (split on whitespace)-- see netServerExample.cpp in the ARIA examples directory. You can use ArNetServer (or ArSocket if you want) to implement some basic commands as strings of ascii text (like "forward 100", "turn -35", etc.), and connect to that server from the Matlab program and send those commands. ArNetServer can then call a callback method (using ArFunctor) for the "forward" command, and a different one for the "turn" command, etc. ArNetworking is the next layer up from that, it's a more complete framework for sending commands to a server and receiving data back, and comes with several already-implemented services for driving the robot, getting different kinds of information back, etc. It has a packet format (similar to the robot's packet format) which you would have to implement in Matlab, however, rather than ArNetServer which just receives ASCII text on the socket. Reed Eric Carter wrote: > Hello all, > > I want to send just basic commands for the Anigorobot like left, right, > upward, backward by an contol algorithm that I implemented in Matlab > using eye bio signals. > > I don't want to go into detail about calling ARIA from Matlab as far as > I search it's a bit tough issue. All i need is to be able to run an exe > like demo.exe and give keyboard commands to that program from Matlab. > However these commands should be automated instead of the manual. > > Does anybody have an idea about how can I achive this easily ? Can I > send just TCP sockets directly to the robot to achive this ? > > Thanks for any idea > > Eric > > From mark.villela at honeywell.com Mon Apr 20 14:48:29 2009 From: mark.villela at honeywell.com (Villela, Mark (AZ76)) Date: Mon, 20 Apr 2009 14:48:29 -0400 Subject: [Aria-users] The displayer cannot receive any signal In-Reply-To: <200904181457218903749@163.com> References: <200904181457218903749@163.com> Message-ID: <185D4C2D7574EA42B3F5B3CF78B1B94F034638D0@DE08EV802.global.ds.honeywell.com> I had what appears to be a similar problem. My issue was when the robot booted without a monitor attached to the VGA port, the imbedded PC video driver automatically switches to what it thinks is a laptop monitor (which does not exist). What helped me was to luckily have a VNC server running in the imbedded PC (Windows 2000 OS), which allowed me to remotely access the imbedded PC and change the video display setting to an external monitor. To this day, we have not been able to resolve this issue, when the system boots without a monitor connected to the VGA port... From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of bit_robot Sent: Friday, April 17, 2009 10:57 PM To: aria-users at lists.mobilerobots.co Cc: support at mobilerobots.com Subject: [Aria-users] The displayer cannot receive any signal hello There are seems some problem with our pioneer 3 robot. The problem is, when we start the on-board pc of the robot, the displayer cannot receive any signal. We are sure there is no problem with the displayer. I tried several times but it still can not work. I really appricate your kind help or suggestions. the basic information for the robot: model: p3-at serial number: FH__2357 (when we start the pc on the roobt, the indicator light of the harddisk , the power and the keyboard is on.) Thank you very much! Best wishes! bit_robot 2009-04-18 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090420/a4c39e5f/attachment.html From tsokas at ekt.gr Wed Apr 22 10:05:20 2009 From: tsokas at ekt.gr (tsokas at ekt.gr) Date: Wed, 22 Apr 2009 17:05:20 +0300 (EEST) Subject: [Aria-users] MobileSim and Sick laser: 360 readings instead of 361? Message-ID: Hi all, I'm using MobileSim to test my program with a map I have created. My code for getting the laser raw readings looks like this: const std::list *readings = NULL; std::list::const_iterator it; readings = FpLaser->getRawReadings(); // FpLaser is a pointer to an ArSick object it = readings->begin(); ArPose fPose = (*it)->getPoseTaken(); double angle = -90.0; for (it=readings->begin(); it!=readings->end(); it++) { // some more code here for using "it" iterator and getting each reading angle += 0.5; } Strangely, the for loop is executed 360 times and "angle" reaches a value of 89.5 (instead of 90.0). I expected 361 readings. Why is this happening? I've used parser.addDefaultArgument("-laserDegrees 180 -laserIncrement half"); earlier in my program. Thanks for any help. Nicolas Tsokas National Technical University of Athens Greece From reed at mobilerobots.com Wed Apr 22 10:21:53 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 22 Apr 2009 10:21:53 -0400 Subject: [Aria-users] MobileSim and Sick laser: 360 readings instead of 361? In-Reply-To: References: Message-ID: <49EF2801.6070403@mobilerobots.com> Hi Nicolas, This is a bug in MobileSim. It will be fixed in the next release I think. Reed tsokas at ekt.gr wrote: > Hi all, > > I'm using MobileSim to test my program with a map I have created. > > My code for getting the laser raw readings looks like this: > > const std::list *readings = NULL; > std::list::const_iterator it; > readings = FpLaser->getRawReadings(); // FpLaser is a pointer to an > ArSick object > it = readings->begin(); > ArPose fPose = (*it)->getPoseTaken(); > double angle = -90.0; > for (it=readings->begin(); it!=readings->end(); it++) > { > // some more code here for using "it" iterator and getting each reading > angle += 0.5; > } > > Strangely, the for loop is executed 360 times and "angle" reaches a value > of 89.5 (instead of 90.0). I expected 361 readings. Why is this happening? > > I've used > > parser.addDefaultArgument("-laserDegrees 180 -laserIncrement half"); > > earlier in my program. > > Thanks for any help. > > Nicolas Tsokas > National Technical University of Athens > Greece > From reed at mobilerobots.com Wed Apr 22 11:31:19 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 22 Apr 2009 11:31:19 -0400 Subject: [Aria-users] USB In-Reply-To: <788867.96555.qm@web76013.mail.sg1.yahoo.com> References: <788867.96555.qm@web76013.mail.sg1.yahoo.com> Message-ID: <49EF3847.608@mobilerobots.com> Hi, To enable use of USB storage devices in the kernel, first load the usb_storage module. As root run: modprobe usb_storage This will load usb_storage and other modules needed to use USB storage devices. If you run "dmesg" you should see some new messages at the bottom as the kernel loads the modules and detects the USB device. The new device will probably be called /dev/sda1, so you can mount it like this: mkdir /mnt/usb mount /dev/sda1 /mnt/usb You can add an entry to /etc/fstab for /dev/sda1 so in the future you don't need to specify /dev/sda1: /dev/sda1 /mnt/usb auto rw,user,sync,auto 0 0 (The "rw" option allows both reading and writing; the "user" option alows any user to mount the device; the "sync" option causes writes to happen immediately, so there is less chance of data being corrupted if you remove the USB device or it falls out before being explicitly unmounted; auto causes it to attempt to mount it at boot.) You can also install the Linux autofs to automatically mount the device when plugged in, but this requires some setup etc. You can find out more about it on the web. (If you need packages for Debian 3.1 you can get them from http://archive.debian.org) Reed le duy khoa wrote: > Hi everyone, > I am using P3-AT with the onboard computer ( Debian). There are a usb > port behind the LMS200. So I want to ask you how to connect the flash > drive through this port in Debian operation (I usually program in my > laptop and I want copy the code to the onboard computer through my flash > drive). Please help me. > Thank a lot > > > ------------------------------------------------------------------------ > L??t web nhanh h?n > > Internet Explorer 8 t?i ?u h?a cho Yahoo!, t? ??ng kh?i ??ng 2 trang b?n > th?ch m?i l?n m? tr?nh duy?t. T?i IE8 t?i ??y! (Mi?n ph?) > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 levente.tamas at aut.utcluj.ro Fri Apr 24 04:30:26 2009 From: levente.tamas at aut.utcluj.ro (Levente TAMAS) Date: Fri, 24 Apr 2009 08:30:26 -0000 Subject: [Aria-users] MobileSim and Sick laser: getRawReadings() In-Reply-To: References: Message-ID: <009701c7864a$c4ad6bb0$4e084310$@tamas@aut.utcluj.ro> Hi all! I have strange problem with the getRawReadings() from the ArSick class. It seems that everything works fine for demo programs with MobileSim (like ArSickLogger), but in a simple program the getRawReadings() returns NULL. I tried to see some workarounds, but the only thing I found out is that the sick object returns the readings ONLY if I compile my own functions using the getRawReadings() into the Aria library. The test I did with the Visual Studio 2008 and the Aria 2.5.1 version. A test sample program is attached to the mail. Thanks for any suggestion, Levente #include "Aria.h" #include "Arnl.h" int main(int argc, char **argv) { ArRobot robot; ArSick * sick = new ArSick(); const std::list *readings = NULL; std::list::const_iterator it; Aria::init(); Arnl::init(); ArArgumentParser parser(&argc, argv); ArSimpleConnector simpleConnector(&parser); robot.addRangeDevice(sick); parser.loadDefaultArguments(); parser.addDefaultArgument("-laserDegrees 180 -laserIncrement half"); if (!simpleConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed(1)) { simpleConnector.logOptions(); exit(1); } if (!simpleConnector.connectRobot(&robot)) { printf("Could not connect to robot... exiting\n"); Aria::shutdown(); return 1; } robot.runAsync(true); simpleConnector.setupLaser(sick); sick->runAsync(); if (!sick->blockingConnect()) { printf("Could not connect to laser... exiting\n"); Aria::shutdown(); return 1; } //ArSickLogger logger(&robot, sick, 300, 25, "test.txt", false); // Get the readings sick->lockDevice(); readings = sick->getRawReadings(); it = readings->begin(); sick->unlockDevice(); robot.waitForRunExit(); sick->lockDevice(); sick->disconnect(); sick->unlockDevice(); Aria::shutdown(); return 0; } From okdhryk at gmail.com Sat Apr 25 21:52:56 2009 From: okdhryk at gmail.com (Hiroyuki Okada) Date: Sun, 26 Apr 2009 10:52:56 +0900 Subject: [Aria-users] new version ARIA Message-ID: Hi, all When does the new ARIA(2,7.0) release?? Can I get an untested version of ARIA ? > Sent: 21 January 2009 05:21 > Hello, > > Sorry for the delay in responding. > > The next version of ARIA (2.7.0) will have support for the Urg. We are > working on testing it (along with ARNL, MobileEyes, etc.) right now and > are trying to get that done over the next few weeks. From g.ascolese at sssup.it Thu Apr 30 09:28:08 2009 From: g.ascolese at sssup.it (Gabriele Ascolese) Date: Thu, 30 Apr 2009 15:28:08 +0200 Subject: [Aria-users] Problem on getvideoExample.cpp Message-ID: <49F9A768.8010309@sssup.it> I try to run getvideoExample.cpp from ArNetworking to receive images from the camera mounted on the pioneer. Sav server is up and running... Running the client getvideoExample.cpp it connects well to SAV server but it says Finding command for "getPictureCam1" but no data with that name exists. get command is 0 when it probably shouldn't be On server it says AirServerClient got request for command 0 which doesen't exist So what is the problem ? Can anyone help me to run this example If i use the savclient works well so the camera and the server is ok.... This is the source code #include "Aria.h" #include "ArNetworking.h" /** @example getVideoExample.cpp * * This simple example requests video images from the server * and saves them repeatedly to a file named "client.jpg". * Connect to SAVserver, ACTS, or a custom video server. */ ArClientBase client; void jpegHandler(ArNetPacket *packet) { unsigned int width; unsigned int height; unsigned char jpeg[50000]; int jpegSize; FILE *file; width = packet->bufToUByte2(); height = packet->bufToUByte2(); printf("Got jpeg of %d x %d\n", width, height); jpegSize = packet->getDataLength() - packet->getDataReadLength(); printf("Jpeg %d long\n", jpegSize); packet->bufToData((char *)jpeg, jpegSize); if ((file = fopen("client.jpg", "wb+")) != NULL) { fwrite(jpeg, jpegSize, 1, file); fclose(file); } else printf("Could not write file\n"); //client.disconnect(); //client.stopRunning(); } int main(int argc, char **argv) { Aria::init(); ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); ArNetPacket packet; std::string hostname; int port; printf("Usage: %s [hostname>] [port]\n", argv[0]); if (argc >= 2) hostname = argv[1]; else hostname = "localhost"; if (argc >= 3) port = atoi(argv[2]); else port = 7070; if (!client.blockingConnect(hostname.c_str(), port)) { printf("Could not connect to server, exiting\n"); exit(1); } client.addHandler("getPictureCam1", &jpegHandlerCB); client.request("getPictureCam1", -2); // stop request packet.setCommand(1); packet.uByteToBuf(90); client.requestOnce("getPictureCam1", &packet); // request one frame with an argument of 90 client.request("getPictureCam1", -1); // request a continuous stream client.run(); Aria::shutdown(); return 0; } Thanks.... -- Ascolese Gabriele System Administrator - Software Developer Centro Gustavo Stefanini - La Spezia Phone: +39. 0187.582110 http://www.centrogustavostefanini.it http://www.cgsrobotics.it INFORMATIVA SULLA PRIVACY Ai sensi del D.Lgs. n.196 del 30.6.2003, si precisa che le informazioni contenute in questo messaggio e nei suoi eventuali allegati sono riservate e per uso esclusivo del destinatario. Nessuno, all'infuori dello stesso, puo' copiare o distribuire il messaggio, o parte di esso, a terzi. Chiunque riceva questo messaggio per errore, e' pregato di distruggerlo e di informare il mittente. PRIVACY NOTICE According to the D.Lgs. n. 196, dated 30.6.2003, this document and its attachments are confidential and intended for the named adderessee(s) only. If you are not the intended recipient of this message, any use or dissemination of this email is prohibited. If you have received this document by mistake, please notify the sender and destroy immediately all physical and/or electronic copies. From reed at mobilerobots.com Thu Apr 30 09:38:40 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 30 Apr 2009 09:38:40 -0400 Subject: [Aria-users] Problem on getvideoExample.cpp In-Reply-To: <49F9A768.8010309@sssup.it> References: <49F9A768.8010309@sssup.it> Message-ID: <49F9A9E0.5000601@mobilerobots.com> Hi, getPictureCam1 is a new request that newer servers than savServer have, sendVideo is the old request name. So if you are using savServer you should use sendVideo. One thing you can do is use the dataExists() function to check if getPictureCam1 exists, and if it doesn't, use sendVideo instead. The packet formats are basically the same, so you can use the same method to handle the packets I think. (I'll fix getVideoExample as well to do this in the future.) Reed Gabriele Ascolese wrote: > I try to run getvideoExample.cpp from ArNetworking to receive images > from the camera mounted on the pioneer. > Sav server is up and running... > Running the client getvideoExample.cpp it connects well to SAV server > but it says > > Finding command for "getPictureCam1" but no data with that name exists. > get command is 0 when it probably shouldn't be > > On server it says > AirServerClient got request for command 0 which doesen't exist > > So what is the problem ? Can anyone help me to run this example > > > If i use the savclient works well so the camera and the server is ok.... > > This is the source code > > #include "Aria.h" > #include "ArNetworking.h" > > /** @example getVideoExample.cpp > * > * This simple example requests video images from the server > * and saves them repeatedly to a file named "client.jpg". > * Connect to SAVserver, ACTS, or a custom video server. > */ > ArClientBase client; > > void jpegHandler(ArNetPacket *packet) > { > unsigned int width; > unsigned int height; > unsigned char jpeg[50000]; > int jpegSize; > FILE *file; > > width = packet->bufToUByte2(); > height = packet->bufToUByte2(); > printf("Got jpeg of %d x %d\n", width, height); > jpegSize = packet->getDataLength() - packet->getDataReadLength(); > printf("Jpeg %d long\n", jpegSize); > packet->bufToData((char *)jpeg, jpegSize); > if ((file = fopen("client.jpg", "wb+")) != NULL) > { > fwrite(jpeg, jpegSize, 1, file); > fclose(file); > } > else > printf("Could not write file\n"); > > //client.disconnect(); > //client.stopRunning(); > } > > int main(int argc, char **argv) > { > Aria::init(); > ArGlobalFunctor1 jpegHandlerCB(&jpegHandler); > ArNetPacket packet; > > std::string hostname; > int port; > > printf("Usage: %s [hostname>] [port]\n", argv[0]); > > if (argc >= 2) > hostname = argv[1]; > else > hostname = "localhost"; > > if (argc >= 3) > port = atoi(argv[2]); > else > port = 7070; > > if (!client.blockingConnect(hostname.c_str(), port)) > { > printf("Could not connect to server, exiting\n"); > exit(1); > } > > client.addHandler("getPictureCam1", &jpegHandlerCB); > > client.request("getPictureCam1", -2); // stop request > > packet.setCommand(1); > packet.uByteToBuf(90); > client.requestOnce("getPictureCam1", &packet); // request one frame > with an argument of 90 > > client.request("getPictureCam1", -1); // request a continuous stream > > client.run(); > Aria::shutdown(); > return 0; > } > > Thanks.... >