From aria-users at mobilerobots.com Sun Aug 2 09:40:40 2009 From: aria-users at mobilerobots.com (Official Site VIAGRA) Date: Sun, 2 Aug 2009 09:40:40 -0400 (EDT) Subject: [Aria-users] *****SPAM-E***** D: Message..Online Pfizer Inc. Message-ID: <20090802134040.A334113847F@mail.mobilerobots.com> An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090802/f086bd07/attachment.html From luxionghui at gmail.com Wed Aug 5 12:04:44 2009 From: luxionghui at gmail.com (Xionghui Lu) Date: Wed, 5 Aug 2009 12:04:44 -0400 Subject: [Aria-users] What is the difference between setRotDecel and setRotAccel? Message-ID: <70655cbf0908050904p699380b8wd385a53d832d719e@mail.gmail.com> If I want to speed to slow down, should I use setRotDecel(10) or setRotAccel(-10)? thanks. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090805/4a8cff13/attachment-0001.html From reed at mobilerobots.com Thu Aug 6 18:51:41 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 Aug 2009 18:51:41 -0400 Subject: [Aria-users] Aria- Java Wrapper In-Reply-To: <34ebd4740907270534l53a0caedv555867ff813c8a9@mail.gmail.com> References: <34ebd4740907270534l53a0caedv555867ff813c8a9@mail.gmail.com> Message-ID: <4A7B5E7D.5090005@mobilerobots.com> Eric Carter wrote: > Hello All, > > I have a question related to Aria-Java. > > Do you think that using Aria-Java to control robots would ruin the > thread-safe property of Java programs ? What do you mean by this? Normally, ARIA runs a couple threads (the robot task cycle, for example), but as long as you use an object's lock() and unlock() methods to control access to data that the thread may be using, it should remain safe, even from Java. Check the API documentation to find notes about whether a class runs a thread either when it is instantiated, or when you call a "runAsync" or similar method on an object of that class. Such a class should have lock() and unlock() methods for use when this thread is running and you need to access data in the class or call methods on it. If the documentation for any class seems unclear on this point, let us know. From reed at mobilerobots.com Thu Aug 6 18:55:13 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 Aug 2009 18:55:13 -0400 Subject: [Aria-users] How to In-Reply-To: <20090729105842.AF2C710E896D@lists.mobilerobots.com> References: <20090729105842.AF2C710E896D@lists.mobilerobots.com> Message-ID: <4A7B5F51.5040808@mobilerobots.com> ponbalu at canada.com wrote: > > Hey All, > I'm new to robot and stuffs, > I use linux , > I tried Demo ARIA, it worked.. > what is the next step? > How all can I control (start) robot using aria, how to start or use aria? > and how to use mobilesim map in aria?? Hello, You should read the following to get an overview of the robot and ARIA: the robot operations manual, the README.txt program in Aria, and the ARIA reference manual (HTML, included with Aria). The reference manual contains an overview page that describes the general design of Aria, and also includes documentation for each class in Aria. You can also look at the other example programs in the examples directory. The ArMap class in ARIA can be used to load a map file and access its contents, modify it, and save it. ARIA is a C++ library or development kit, and so different parts of it may or may not be used in any particular program of your design and creation. You can use an example such as simpleConnect, wander, actionsExample, etc. as a starting point. Reed From reed at mobilerobots.com Thu Aug 6 19:00:03 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 Aug 2009 19:00:03 -0400 Subject: [Aria-users] You can download Java Library for ArNetworking. In-Reply-To: <000401ca10d9$7cf1ced0$76d56c70$@com> References: <000401ca10d9$7cf1ced0$76d56c70$@com> Message-ID: <4A7B6073.5040004@mobilerobots.com> Hi, this looks good so far (reading the documentation), thanks for posting it! ??? wrote: > Hi, there- > > I make a java library for ArNetworking. It?s pure java! > > You can download this library here, http://code.google.com/p/java-robot-api/ > > > > Sorry, there is no documentation. But you can see many examples in > semix2.robot.example package. > > (If you have been using ArNetworking, It?s is very easy for using) > > > > Semix2 > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Thu Aug 6 19:02:11 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 Aug 2009 19:02:11 -0400 Subject: [Aria-users] What is the difference between setRotDecel and setRotAccel? In-Reply-To: <70655cbf0908050904p699380b8wd385a53d832d719e@mail.gmail.com> References: <70655cbf0908050904p699380b8wd385a53d832d719e@mail.gmail.com> Message-ID: <4A7B60F3.8080403@mobilerobots.com> Xionghui Lu wrote: > If I want to speed to slow down, should I use setRotDecel(10) or > setRotAccel(-10)? Use setRotDecel() with a positive value to set the deceleration. (The sign would be ignored, but in general a negative value should not be used for acceleration or deceleration parameters.) This won't reduce the speed immediately, to do that you must use setVel() and set a lower velocity than the current velocity, or 0, or use stop(). Reed > thanks. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From aria-users at mobilerobots.com Sun Aug 9 06:58:35 2009 From: aria-users at mobilerobots.com (VIAGRA ® Official Site) Date: Sun, 9 Aug 2009 06:58:35 -0400 (EDT) Subject: [Aria-users] *****SPAM-E***** Dear aria-users@mobilerobots.com 54% 0FF Message-ID: <20090809105835.4A2BE13035F@mail.mobilerobots.com> An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090809/e498dea1/attachment.html From khoanqv at yahoo.com.vn Mon Aug 10 02:02:14 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Sun, 9 Aug 2009 23:02:14 -0700 (PDT) Subject: [Aria-users] usb problem Message-ID: <950986.27162.qm@web76006.mail.sg1.yahoo.com> Hi everybody, Hi everybody, I have some problems with usb storage I try to mount my flash drive to onboard computer (debian). Here is my step: - modprobe usb_storage - mkdir /mnt/usb -mount /dev/sda1 /mnt/usb However, it doesn't work. There is a announment: "mount: wrong fs type, bad option, bad superblock on /dev/sda, missing codepage or other error In some cases useful info is found in syslog - try dmesg | tail or so" When I use "dmesg" command, computer still recognize my flash drive but I can access it in /mnt/usb directory (it completely clear). Please help me. Thank a lot "T?t h?n, tho?ng g?n h?n, nhanh h?n -Tr?i nghi?m Yahoo! Mail m?i h?m nay! http://vn.mail.yahoo.com" -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090809/dc2f4759/attachment.html From nothingsburning at gmail.com Tue Aug 11 12:00:54 2009 From: nothingsburning at gmail.com (And C. E.) Date: Tue, 11 Aug 2009 11:00:54 -0500 Subject: [Aria-users] Problems compiling Message-ID: Hello everyone, I have problems while compiling examples in ../Aria/examples/make: this is the result: ../Aria/examples$ 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 also I try to compile one of the examples and I don`t now whats the problem: ../Aria/examples$ gcc actionExample.cpp -o actionExample -I /usr/local/Aria/include/ -L /usr/local/Aria/lib/ -lAria -lpthread -ldl In file included from /usr/local/Aria/include/ArDeviceConnection.h:31, from /usr/local/Aria/include/ArSerialConnection.h:31, from /usr/local/Aria/include/Aria.h:31, from actionExample.cpp:26: /usr/local/Aria/include/ariaUtil.h: In static member function ?static int ArMath::roundInt(double)?: /usr/local/Aria/include/ariaUtil.h:437: error: ?INT_MAX? was not declared in this scope /usr/local/Aria/include/ariaUtil.h:439: error: ?INT_MIN? was not declared in this scope /usr/local/Aria/include/ariaUtil.h: In static member function ?static long int ArMath::random()?: /usr/local/Aria/include/ariaUtil.h:481: error: ?lrand48? was not declared in this scope /usr/local/Aria/include/ariaUtil.h: In member function ?void ArTime::addMSec(long int)?: /usr/local/Aria/include/ariaUtil.h:777: error: ?abs? was not declared in this scope /usr/local/Aria/include/ariaUtil.h: In member function ?bool ArStrCaseCmpOp::operator()(const std::string&, const std::string&) const?: /usr/local/Aria/include/ariaUtil.h:1131: error: ?strcasecmp? was not declared in this scope In file included from /usr/local/Aria/include/ArTcpConnection.h:33, from /usr/local/Aria/include/Aria.h:32, from actionExample.cpp:26: /usr/local/Aria/include/ArSocket.h: In member function ?void ArSocket::transfer(ArSocket*)?: /usr/local/Aria/include/ArSocket.h:112: error: ?strcpy? was not declared in this scope In file included from /usr/local/Aria/include/ArSick.h:35, from /usr/local/Aria/include/ArSimpleConnector.h:35, from /usr/local/Aria/include/Aria.h:33, from actionExample.cpp:26: /usr/local/Aria/include/ArCondition.h: At global scope: /usr/local/Aria/include/ArCondition.h:50: warning: ?typedef? was ignored in this declaration Is there any one who knows what is happening here or what is the problem? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090811/6fdcb5f1/attachment-0001.html From joe.sfeir at gmail.com Tue Aug 11 22:59:05 2009 From: joe.sfeir at gmail.com (Joe Sfeir) Date: Tue, 11 Aug 2009 22:59:05 -0400 Subject: [Aria-users] Camera with Demo Message-ID: <6393b71e0908111959h12b543f7uab33d4459d1c83fa@mail.gmail.com> Hi all, I am working with a P3AT with a VC-C50i camera connected to it. I am running the demo and going to camera mode. first, I don't know which camera to choose... I choose VCC4, but it doesn't work. All I get is "cannot get signal from camera" or something like that, and I cannot control the camera. Can someone please give me sone information on how to connect to the camera in demo mode, and maybe how to integrate it in a simple console application... Sorry for my ignorance :) Thanks. Joe. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090811/10d9123a/attachment.html From wuiscmc at gmail.com Wed Aug 12 08:14:01 2009 From: wuiscmc at gmail.com (L. Carlos Mateos) Date: Wed, 12 Aug 2009 13:14:01 +0100 Subject: [Aria-users] Doubts with lock and unlock functions Message-ID: Hello all, I am writing some example apps to learn how to use ARIA, but now I have a question related to the ArRobot::lock() and ArRobot::unlock() functions. I am wondering where I should wrap the code written above with these functions. Should I allocate them within the functions to move the robot (goUp ,goDown , turnLeft and turnRight) ? or in the main of the program? class RobotControlHandler { ArRobot* myRobot; ArFunctorC myUpCB; ArFunctorC myLeftCB; ArFunctorC myRightCB; ArFunctorC myDownCB; public: RobotControlHandler(ArRobot* robot): myRobot(robot), myUpCB(this, &RobotControlHandler::goUp), myLeftCB(this, &RobotControlHandler::turnLeft), myRightCB(this, &RobotControlHandler::turnRight), myDownCB(this, &RobotControlHandler::goDown) { } void setKeyHandlers() { ArKeyHandler* keyHandler=Aria::getKeyHandler(); if(!keyHandler) { keyHandler=new ArKeyHandler; Aria::setKeyHandler(keyHandler); myRobot->attachKeyHandler(keyHandler); } keyHandler->addKeyHandler(keyHandler->UP,&myUpCB); keyHandler->addKeyHandler(keyHandler->LEFT,&myLeftCB); keyHandler->addKeyHandler(keyHandler->DOWN,&myDownCB); keyHandler->addKeyHandler(keyHandler->RIGHT,&myRightCB); } void goUp() { //myRobot->lock(); myRobot->move(100); //myRobot->unlock(); } void goDown() { //myRobot->lock(); myRobot->move(-100); //myRobot->unlock(); } void turnRight() { //myRobot->lock(); myRobot->setHeading(-45); //myRobot->unlock(); } void turnLeft() { //myRobot->lock(); myRobot->setHeading(45); //myRobot->unlock(); } }; //*****************************************************************************************// //*****************************************************************************************// //*****************************************************************************************// int main(int argc, char** argv) { Aria::init(); ArArgumentParser p(&argc,argv); p.loadDefaultArguments(); ArRobot robot; ArRobotConnector robotConnection(&p,&robot); robotConnection.connectRobot(); robot.runAsync(true); robot.lock(); RobotControlHandler robotHandler(&robot); robotHandler.setKeyHandlers(); robot.comInt(ArCommands::ENABLE, 1); robot.unlock(); robot.waitForRunExit(); Aria::exit(0); } Thanks in advance -- L Carlos Mateos Ca?as -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090812/93bf2e69/attachment.html From reed at mobilerobots.com Wed Aug 12 09:27:42 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 12 Aug 2009 09:27:42 -0400 Subject: [Aria-users] Camera with Demo In-Reply-To: <6393b71e0908111959h12b543f7uab33d4459d1c83fa@mail.gmail.com> References: <6393b71e0908111959h12b543f7uab33d4459d1c83fa@mail.gmail.com> Message-ID: <4A82C34E.4010105@mobilerobots.com> Hi Joe, VCC4 is the right model to choose for the VCC50i (compatible cameras). You should choose the "connected to robot" option (unless you know that your camera is connected to the computer, which is not the normal connection). The VCC4 interface can work either with or without feedback received from the camera. If it is not receiving feedback from the camera, it will log a warning, but you should still be able to control the camera. Check that the camera is on (small green LED on the front). You may need to turn it on using the AUX1 or AUX2 power switch on the control panel. Joe Sfeir wrote: > Hi all, > > I am working with a P3AT with a VC-C50i camera connected to it. > I am running the demo and going to camera mode. first, I don't know which > camera to choose... I choose VCC4, but it doesn't work. All I get is "cannot > get signal from camera" or something like that, and I cannot control the > camera. > > Can someone please give me sone information on how to connect to the camera > in demo mode, and maybe how to integrate it in a simple console > application... > > Sorry for my ignorance :) > > Thanks. > > Joe. > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Wed Aug 12 09:31:51 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 12 Aug 2009 09:31:51 -0400 Subject: [Aria-users] usb problem In-Reply-To: <950986.27162.qm@web76006.mail.sg1.yahoo.com> References: <950986.27162.qm@web76006.mail.sg1.yahoo.com> Message-ID: <4A82C447.40201@mobilerobots.com> > -mount /dev/sda1 /mnt/usb > However, it doesn't work. There is a announment: > "mount: wrong fs type, bad option, bad superblock > on /dev/sda, > missing codepage or other error > In some cases useful info is found in syslog - try > dmesg | tail or so" > When I use "dmesg" command, computer still recognize my flash drive but I can access it in /mnt/usb directory (it completely clear). > Please help me. Thank a lot Does dmesg indicate that the device is /dev/sda1, or some other device name? If you run lsmod do you also have other disk modules loaded like scsi_mod, sr_mod, sd_mod, etc.? You can specify the filesystem type with -t. For example, 'mount -t vfat /dev/sda1 /mnt/usb' (vfat is the most common common Windows filesystem, but it might also be ntfs). Make sure that you give the full device name including partition number (e.g. "/dev/sda1" not "/dev/sda", which is also a valid device and will exist in /dev, but refers to the storage device as a whole, not a specific data partition). Reed From mehta at ll.mit.edu Wed Aug 12 13:45:23 2009 From: mehta at ll.mit.edu (Mehta, Devanshu) Date: Wed, 12 Aug 2009 13:45:23 -0400 Subject: [Aria-users] Combining real robots with a stage simulation Message-ID: Hi, We've been using Player (2.1.2) and Stage (2.1.1) successfully both in a Player/Stage setting to control multiple simulated robots (both from a single machine running the Stage and from multiple machines talking to a remote Player/Stage) and Player standalone to control a Pioneer P3-DX robot. I am now trying to do the following: * tie these together and run a real robot that also shows up on the Stage so that it can be mapped * if possible even subscribe to a simulated laser proxy to detect obstacles in the Stage's world file. This would allow us to run scenarios with a small number of real robots, but a large number of simulated ones, while having the real robots respond to simulated events. To do this we have a laptop (laptop1) running Player 2.1.2 hooked up to the Pioneer robot with a cfg file that makes use of a passthrough device driver. The following does not work, nothing happens on the stage: driver ( name "stage" provides ["laptop2::simulation:0"] plugin "libstageplugin" worldfile "demo5.world" ) driver ( name "stage" provides ["laptop2:6665:map:0" "laptop2:6666:map:0"] model "cave" ) # robot 1 (simulated-only) driver ( name "stage" provides ["laptop2:6665:position2d:0" "laptop2:6665:sonar:0" "laptop2:6665:laser:0" "laptop2:6665:wifi:0"] model "robot1" ) driver ( name "vfh" provides ["laptop2:6665:position2d:1"] requires ["laptop2:6665:position2d:0" "laptop2:6665:laser:0"] ) driver ( name "wavefront" provides ["laptop2:6665:planner:0"] requires ["output:laptop2:6665:position2d:1" "input:laptop2:6665:position2d:1" "laptop2:6665:map:0"] safety_dist 0.15 distance_epsilon 0.5 angle_epsilon 10 ) # robot 2 (the real one that will also display on Stage) driver ( name ?passthrough? requires [?:laptop1:6665:position2d:0?] provides [?position2d:10?] ) driver ( name ?passthrough? requires [?:laptop1:6665:sonar:0?] provides [?sonar:10?] ) driver ( name "stage" provides ["laptop2:6666:position2d:10" "laptop2:6666:sonar:10" ?laptop2:6666:laser:0? "laptop2:6666:wifi:1"] model "robot2" ) Thanks, -- Devanshu Mehta (781) 981-1233 Advanced Networks and Applications MIT Lincoln Laboratory 244 Wood St Lexington MA 02420 From mehta at ll.mit.edu Wed Aug 12 14:00:30 2009 From: mehta at ll.mit.edu (Mehta, Devanshu) Date: Wed, 12 Aug 2009 14:00:30 -0400 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: Message-ID: One main question that I forgot to mention: if this is not possible in player/stage, is it possible with MobileSim or programming using ARIA? Thanks again, On 8/12/09 1:45 PM, "Devanshu Mehta" wrote: Hi, We've been using Player (2.1.2) and Stage (2.1.1) successfully both in a Player/Stage setting to control multiple simulated robots (both from a single machine running the Stage and from multiple machines talking to a remote Player/Stage) and Player standalone to control a Pioneer P3-DX robot. I am now trying to do the following: * tie these together and run a real robot that also shows up on the Stage so that it can be mapped * if possible even subscribe to a simulated laser proxy to detect obstacles in the Stage's world file. This would allow us to run scenarios with a small number of real robots, but a large number of simulated ones, while having the real robots respond to simulated events. To do this we have a laptop (laptop1) running Player 2.1.2 hooked up to the Pioneer robot with a cfg file that makes use of a passthrough device driver. The following does not work, nothing happens on the stage: driver ( name "stage" provides ["laptop2::simulation:0"] plugin "libstageplugin" worldfile "demo5.world" ) driver ( name "stage" provides ["laptop2:6665:map:0" "laptop2:6666:map:0"] model "cave" ) # robot 1 (simulated-only) driver ( name "stage" provides ["laptop2:6665:position2d:0" "laptop2:6665:sonar:0" "laptop2:6665:laser:0" "laptop2:6665:wifi:0"] model "robot1" ) driver ( name "vfh" provides ["laptop2:6665:position2d:1"] requires ["laptop2:6665:position2d:0" "laptop2:6665:laser:0"] ) driver ( name "wavefront" provides ["laptop2:6665:planner:0"] requires ["output:laptop2:6665:position2d:1" "input:laptop2:6665:position2d:1" "laptop2:6665:map:0"] safety_dist 0.15 distance_epsilon 0.5 angle_epsilon 10 ) # robot 2 (the real one that will also display on Stage) driver ( name "passthrough" requires [":laptop1:6665:position2d:0"] provides ["position2d:10"] ) driver ( name "passthrough" requires [":laptop1:6665:sonar:0"] provides ["sonar:10"] ) driver ( name "stage" provides ["laptop2:6666:position2d:10" "laptop2:6666:sonar:10" "laptop2:6666:laser:0" "laptop2:6666:wifi:1"] model "robot2" ) Thanks, -- Devanshu Mehta (781) 981-1233 Advanced Networks and Applications MIT Lincoln Laboratory 244 Wood St Lexington MA 02420 _______________________________________________ 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 Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -- Devanshu Mehta (781) 981-1233 Advanced Networks and Applications MIT Lincoln Laboratory 244 Wood St Lexington MA 02420 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090812/64f08650/attachment-0001.html From vinay4venkatesh at gmail.com Wed Aug 12 14:06:38 2009 From: vinay4venkatesh at gmail.com (vinay venkatesh) Date: Wed, 12 Aug 2009 11:06:38 -0700 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: References: Message-ID: <9a5b68cb0908121106y59892167w4e70d2888f002ed0@mail.gmail.com> You will be successful with ARIA programming On Wed, Aug 12, 2009 at 11:00 AM, Mehta, Devanshu wrote: > One main question that I forgot to mention: if this is not possible in > player/stage, is it possible with MobileSim or programming using ARIA? > > Thanks again, > > > On 8/12/09 1:45 PM, "Devanshu Mehta" wrote: > > Hi, > We've been using Player (2.1.2) and Stage (2.1.1) successfully both in a > Player/Stage setting to control multiple simulated robots (both from a > single machine running the Stage and from multiple machines talking to a > remote Player/Stage) and Player standalone to control a Pioneer P3-DX > robot. > > I am now trying to do the following: > * tie these together and run a real robot that also shows up on the Stage > so > that it can be mapped > * if possible even subscribe to a simulated laser proxy to detect obstacles > in the Stage's world file. > > This would allow us to run scenarios with a small number of real robots, > but > a large number of simulated ones, while having the real robots respond to > simulated events. > > To do this we have a laptop (laptop1) running Player 2.1.2 hooked up to the > Pioneer robot with a cfg file that makes use of a passthrough device > driver. > The following does not work, nothing happens on the stage: > > driver > ( > name "stage" > provides ["laptop2::simulation:0"] > plugin "libstageplugin" > worldfile "demo5.world" > ) > > driver > ( > name "stage" > provides ["laptop2:6665:map:0" "laptop2:6666:map:0"] > model "cave" > ) > > # robot 1 (simulated-only) > driver > ( > name "stage" > provides ["laptop2:6665:position2d:0" > "laptop2:6665:sonar:0" > "laptop2:6665:laser:0" > "laptop2:6665:wifi:0"] > model "robot1" > ) > > driver > ( > name "vfh" > provides ["laptop2:6665:position2d:1"] > requires ["laptop2:6665:position2d:0" > "laptop2:6665:laser:0"] > ) > > driver > ( > name "wavefront" > provides ["laptop2:6665:planner:0"] > requires ["output:laptop2:6665:position2d:1" > "input:laptop2:6665:position2d:1" > "laptop2:6665:map:0"] > safety_dist 0.15 > distance_epsilon 0.5 > angle_epsilon 10 > ) > > # robot 2 (the real one that will also display on Stage) > driver > ( > name ?passthrough? > requires [?:laptop1:6665:position2d:0?] > provides [?position2d:10?] > ) > > driver > ( > name ?passthrough? > requires [?:laptop1:6665:sonar:0?] > provides [?sonar:10?] > ) > > driver > ( > name "stage" > provides ["laptop2:6666:position2d:10" > "laptop2:6666:sonar:10" > ?laptop2:6666:laser:0? > "laptop2:6666:wifi:1"] > model "robot2" > ) > > > Thanks, > -- > Devanshu Mehta (781) 981-1233 > Advanced Networks and Applications > MIT Lincoln Laboratory > 244 Wood St Lexington MA 02420 > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > -- > Devanshu Mehta (781) 981-1233 > Advanced Networks and Applications > MIT Lincoln Laboratory > 244 Wood St Lexington MA 02420 > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > -- Have a nice day With regards, Vinay -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090812/a89f2284/attachment.html From mehta at ll.mit.edu Wed Aug 12 14:23:14 2009 From: mehta at ll.mit.edu (Mehta, Devanshu) Date: Wed, 12 Aug 2009 14:23:14 -0400 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: <9a5b68cb0908121106y59892167w4e70d2888f002ed0@mail.gmail.com> Message-ID: No kidding. Could you elaborate on how, where to start, etc? To reiterate, I want an actual robot and a simulated robot to simultaneously appear on a simulated stage/MobileSim. Devanshu On 8/12/09 2:06 PM, "vinay venkatesh" wrote: You will be successful with ARIA programming On Wed, Aug 12, 2009 at 11:00 AM, Mehta, Devanshu wrote: One main question that I forgot to mention: if this is not possible in player/stage, is it possible with MobileSim or programming using ARIA? Thanks again, On 8/12/09 1:45 PM, "Devanshu Mehta" > wrote: Hi, We've been using Player (2.1.2) and Stage (2.1.1) successfully both in a Player/Stage setting to control multiple simulated robots (both from a single machine running the Stage and from multiple machines talking to a remote Player/Stage) and Player standalone to control a Pioneer P3-DX robot. I am now trying to do the following: * tie these together and run a real robot that also shows up on the Stage so that it can be mapped * if possible even subscribe to a simulated laser proxy to detect obstacles in the Stage's world file. This would allow us to run scenarios with a small number of real robots, but a large number of simulated ones, while having the real robots respond to simulated events. To do this we have a laptop (laptop1) running Player 2.1.2 hooked up to the Pioneer robot with a cfg file that makes use of a passthrough device driver. The following does not work, nothing happens on the stage: driver ( name "stage" provides ["laptop2::simulation:0"] plugin "libstageplugin" worldfile "demo5.world" ) driver ( name "stage" provides ["laptop2:6665:map:0" "laptop2:6666:map:0"] model "cave" ) # robot 1 (simulated-only) driver ( name "stage" provides ["laptop2:6665:position2d:0" "laptop2:6665:sonar:0" "laptop2:6665:laser:0" "laptop2:6665:wifi:0"] model "robot1" ) driver ( name "vfh" provides ["laptop2:6665:position2d:1"] requires ["laptop2:6665:position2d:0" "laptop2:6665:laser:0"] ) driver ( name "wavefront" provides ["laptop2:6665:planner:0"] requires ["output:laptop2:6665:position2d:1" "input:laptop2:6665:position2d:1" "laptop2:6665:map:0"] safety_dist 0.15 distance_epsilon 0.5 angle_epsilon 10 ) # robot 2 (the real one that will also display on Stage) driver ( name "passthrough" requires [":laptop1:6665:position2d:0"] provides ["position2d:10"] ) driver ( name "passthrough" requires [":laptop1:6665:sonar:0"] provides ["sonar:10"] ) driver ( name "stage" provides ["laptop2:6666:position2d:10" "laptop2:6666:sonar:10" "laptop2:6666:laser:0" "laptop2:6666:wifi:1"] model "robot2" ) Thanks, -- Devanshu Mehta (781) 981-1233 Advanced Networks and Applications MIT Lincoln Laboratory 244 Wood St Lexington MA 02420 _______________________________________________ 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 Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -- Devanshu Mehta (781) 981-1233 Advanced Networks and Applications MIT Lincoln Laboratory 244 Wood St Lexington MA 02420 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090812/ec41d967/attachment.html From joe.sfeir at gmail.com Thu Aug 13 00:18:35 2009 From: joe.sfeir at gmail.com (Joe Sfeir) Date: Thu, 13 Aug 2009 00:18:35 -0400 Subject: [Aria-users] Camera with Demo In-Reply-To: <4A82C34E.4010105@mobilerobots.com> References: <6393b71e0908111959h12b543f7uab33d4459d1c83fa@mail.gmail.com> <4A82C34E.4010105@mobilerobots.com> Message-ID: <6393b71e0908122118t3b71a773pde0a7b91f9c195d1@mail.gmail.com> Hi Reed, I made sure AUX1 is on and that the camera is on as well. I tried controlling the camera with its remote, it worked. When I choose "connected to robot", I still cannot control it. Here's the weird part: I am connected to the robot from a remote computer via a blue tooth serial connection. The onboard computer is turned off. When I choose "Connected to the computer", and when I choose COM2, it's as if it recognizes that the cam is present (but I still cannot control it)... how can this be? Thanks! Joe. On Wed, Aug 12, 2009 at 9:27 AM, Reed Hedges wrote: > > Hi Joe, > > VCC4 is the right model to choose for the VCC50i (compatible cameras). > > You should choose the "connected to robot" option (unless you know that > your > camera is connected to the computer, which is not the normal connection). > > The VCC4 interface can work either with or without feedback received from > the > camera. If it is not receiving feedback from the camera, it will log a > warning, > but you should still be able to control the camera. > > Check that the camera is on (small green LED on the front). You may need > to > turn it on using the AUX1 or AUX2 power switch on the control panel. > > Joe Sfeir wrote: > > Hi all, > > > > I am working with a P3AT with a VC-C50i camera connected to it. > > I am running the demo and going to camera mode. first, I don't know which > > camera to choose... I choose VCC4, but it doesn't work. All I get is > "cannot > > get signal from camera" or something like that, and I cannot control the > > camera. > > > > Can someone please give me sone information on how to connect to the > camera > > in demo mode, and maybe how to integrate it in a simple console > > application... > > > > Sorry for my ignorance :) > > > > Thanks. > > > > Joe. > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090813/f279c372/attachment-0001.html From xpsh_007 at mail.ecust.edu.cn Thu Aug 13 06:02:01 2009 From: xpsh_007 at mail.ecust.edu.cn (Shi Xianpeng) Date: Thu, 13 Aug 2009 18:02:01 +0800 Subject: [Aria-users] The moment of inertia of the powerbot robot? Message-ID: <450155717.10501@eyou.net> Hello, everyone, who knows the moment of inertia of the powerbot robot? (there is a 6 degree of freedom powercube manipulator mounted on its top) -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090813/c0b91a7f/attachment.html From reed at mobilerobots.com Thu Aug 13 14:28:44 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 13 Aug 2009 14:28:44 -0400 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: References: Message-ID: <1250188124.19543.14.camel@ixion> Hi,, On Wed, 2009-08-12 at 13:45 -0400, Mehta, Devanshu wrote: > I am now trying to do the following: > * tie these together and run a real robot that also shows up on the Stage so > that it can be mapped I don't think this is possible in Stage but you should ask the Player/Stage users list. > * if possible even subscribe to a simulated laser proxy to detect obstacles > in the Stage's world file. This may be possible in Stage, but again, the members of the Player/Stage users list should be able to answer. It is possible to show both simulated and real robots in MobileEyes. To do this, run the simulator (for multiple robots, use -R or multiple -r options, or select multiple robots in the startup GUI), run a controlling program/server or servers for the simulated robot(s), then run a control program/server for each real robot (on the robot's onboard computer if it has one). (If you run mulitple programs/servers for multiple simulated robots on the same host, you will need to tell them to use different server ports using command line options.) Then run MobileEyes, and in the robot servers field, list the host names and ports. E.g. if you have a simulated robot on localhost, and real robots on hosts "robot1" and "robot2" on the network (e.g. wireless network), enter this in the robot servers field: localhost,robot1,robot2 By "server" I mean an ArNetworking server (see examples in Aria/ArNetworking/examples and in ARNL or SONARNL examples). This program will connect to the robot using ARIA and control it, and it will host ArNetworking services that MobileEyes connects to. Hope this helps, Reed From reed at mobilerobots.com Thu Aug 13 14:36:25 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 13 Aug 2009 14:36:25 -0400 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: <1250188124.19543.14.camel@ixion> References: <1250188124.19543.14.camel@ixion> Message-ID: <1250188585.19543.21.camel@ixion> I forgot to say, a real and simulated robot won't see each other with sensors, but there are some tools available in the ARNL libraries for one robot control program to send its position and artificial sensor readings to another using ArNetworking. See the classes ArServerHandlerMultiRobotPeer and ArServerHandlerMultiRobot (to be used with a central server such as the example centralServerExample provided) in BaseArnl. These are relatively new so if you see particular places that could use additional documentation or example code let me know. Reed On Thu, 2009-08-13 at 14:28 -0400, Reed Hedges wrote: > Hi,, > > On Wed, 2009-08-12 at 13:45 -0400, Mehta, Devanshu wrote: > > I am now trying to do the following: > > * tie these together and run a real robot that also shows up on the Stage so > > that it can be mapped > > I don't think this is possible in Stage but you should ask the > Player/Stage users list. > > > * if possible even subscribe to a simulated laser proxy to detect obstacles > > in the Stage's world file. > > This may be possible in Stage, but again, the members of the > Player/Stage users list should be able to answer. > > It is possible to show both simulated and real robots in MobileEyes. To > do this, run the simulator (for multiple robots, use -R or multiple -r > options, or select multiple robots in the startup GUI), run a > controlling program/server or servers for the simulated robot(s), then > run a control program/server for each real robot (on the robot's onboard > computer if it has one). (If you run mulitple programs/servers for > multiple simulated robots on the same host, you will need to tell them > to use different server ports using command line options.) > > Then run MobileEyes, and in the robot servers field, list the host names > and ports. > > E.g. if you have a simulated robot on localhost, and real robots on > hosts "robot1" and "robot2" on the network (e.g. wireless network), > enter this in the robot servers field: > > localhost,robot1,robot2 > > By "server" I mean an ArNetworking server (see examples in > Aria/ArNetworking/examples and in ARNL or SONARNL examples). This > program will connect to the robot using ARIA and control it, and it will > host ArNetworking services that MobileEyes connects to. > > Hope this helps, > > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From vinay4venkatesh at gmail.com Thu Aug 13 14:38:01 2009 From: vinay4venkatesh at gmail.com (vinay venkatesh) Date: Thu, 13 Aug 2009 11:38:01 -0700 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: References: <9a5b68cb0908121106y59892167w4e70d2888f002ed0@mail.gmail.com> Message-ID: <9a5b68cb0908131138m47b53f51j938866f42518bd8a@mail.gmail.com> Mehta, I will try to work over the weekend and think of a solution. But I think you would have found something more constructive solution. Thanks Vinay On Wed, Aug 12, 2009 at 11:23 AM, Mehta, Devanshu wrote: > No kidding. Could you elaborate on how, where to start, etc? To > reiterate, I want an actual robot and a simulated robot to simultaneously > appear on a simulated stage/MobileSim. > > Devanshu > > > > On 8/12/09 2:06 PM, "vinay venkatesh" wrote: > > You will be successful with ARIA programming > > On Wed, Aug 12, 2009 at 11:00 AM, Mehta, Devanshu > wrote: > > One main question that I forgot to mention: if this is not possible in > player/stage, is it possible with MobileSim or programming using ARIA? > > Thanks again, > > > On 8/12/09 1:45 PM, "Devanshu Mehta" http://mehta at ll.mit.edu> > wrote: > > Hi, > We've been using Player (2.1.2) and Stage (2.1.1) successfully both in a > Player/Stage setting to control multiple simulated robots (both from a > single machine running the Stage and from multiple machines talking to a > remote Player/Stage) and Player standalone to control a Pioneer P3-DX > robot. > > I am now trying to do the following: > * tie these together and run a real robot that also shows up on the Stage > so > that it can be mapped > * if possible even subscribe to a simulated laser proxy to detect obstacles > in the Stage's world file. > > This would allow us to run scenarios with a small number of real robots, > but > a large number of simulated ones, while having the real robots respond to > simulated events. > > To do this we have a laptop (laptop1) running Player 2.1.2 hooked up to the > Pioneer robot with a cfg file that makes use of a passthrough device > driver. > The following does not work, nothing happens on the stage: > > driver > ( > name "stage" > provides ["laptop2::simulation:0"] > plugin "libstageplugin" > worldfile "demo5.world" > ) > > driver > ( > name "stage" > provides ["laptop2:6665:map:0" "laptop2:6666:map:0"] > model "cave" > ) > > # robot 1 (simulated-only) > driver > ( > name "stage" > provides ["laptop2:6665:position2d:0" > "laptop2:6665:sonar:0" > "laptop2:6665:laser:0" > "laptop2:6665:wifi:0"] > model "robot1" > ) > > driver > ( > name "vfh" > provides ["laptop2:6665:position2d:1"] > requires ["laptop2:6665:position2d:0" > "laptop2:6665:laser:0"] > ) > > driver > ( > name "wavefront" > provides ["laptop2:6665:planner:0"] > requires ["output:laptop2:6665:position2d:1" > "input:laptop2:6665:position2d:1" > "laptop2:6665:map:0"] > safety_dist 0.15 > distance_epsilon 0.5 > angle_epsilon 10 > ) > > # robot 2 (the real one that will also display on Stage) > driver > ( > name ?passthrough? > requires [?:laptop1:6665:position2d:0?] > provides [?position2d:10?] > ) > > driver > ( > name ?passthrough? > requires [?:laptop1:6665:sonar:0?] > provides [?sonar:10?] > ) > > driver > ( > name "stage" > provides ["laptop2:6666:position2d:10" > "laptop2:6666:sonar:10" > ?laptop2:6666:laser:0? > "laptop2:6666:wifi:1"] > model "robot2" > ) > > > Thanks, > -- > Devanshu Mehta (781) 981-1233 > Advanced Networks and Applications > MIT Lincoln Laboratory > 244 Wood St Lexington MA 02420 > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com < > http://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 < > http://aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > -- > Devanshu Mehta (781) 981-1233 > Advanced Networks and Applications > MIT Lincoln Laboratory > 244 Wood St Lexington MA 02420 > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > -- Have a nice day With regards, Vinay -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090813/e488053c/attachment.html From reed at mobilerobots.com Thu Aug 13 15:08:30 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 13 Aug 2009 15:08:30 -0400 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: <1250188585.19543.21.camel@ixion> References: <1250188124.19543.14.camel@ixion> <1250188585.19543.21.camel@ixion> Message-ID: <1250190510.19543.24.camel@ixion> I also thought of another thing you could do in ARIA: connect from the same program both to a real robot and to a simulated robot, and as the real robot moves, you can move the simulated robot using the SIM_SETPOSE command. To connect to the simulator, use a second set of ArRobotConnector (you will need to pass it a modified set of arguments specifying the TCP host and port of the simulator), ArRobot, etc. SIM_SETPOSE does not yet have any API in ARIA, here's how to send the command: http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim I could write an example program that does this if people want one. Reed From vinay4venkatesh at gmail.com Thu Aug 13 16:45:03 2009 From: vinay4venkatesh at gmail.com (vinay venkatesh) Date: Thu, 13 Aug 2009 13:45:03 -0700 Subject: [Aria-users] Combining real robots with a stage simulation In-Reply-To: <1250190510.19543.24.camel@ixion> References: <1250188124.19543.14.camel@ixion> <1250188585.19543.21.camel@ixion> <1250190510.19543.24.camel@ixion> Message-ID: <9a5b68cb0908131345l51aefe8chcc0e6e8cb32b7cf0@mail.gmail.com> YES On Thu, Aug 13, 2009 at 12:08 PM, Reed Hedges wrote: > > I also thought of another thing you could do in ARIA: connect from the > same program both to a real robot and to a simulated robot, and as the > real robot moves, you can move the simulated robot using the SIM_SETPOSE > command. To connect to the simulator, use a second set of > ArRobotConnector (you will need to pass it a modified set of arguments > specifying the TCP host and port of the simulator), ArRobot, etc. > > SIM_SETPOSE does not yet have any API in ARIA, here's how to send the > command: > > http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim > > I could write an example program that does this if people want one. > > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -- Have a nice day With regards, Vinay -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090813/c8c458b3/attachment.html From wuiscmc at gmail.com Mon Aug 17 13:48:43 2009 From: wuiscmc at gmail.com (L. Carlos Mateos) Date: Mon, 17 Aug 2009 18:48:43 +0100 Subject: [Aria-users] serial port connection problems Message-ID: Hello friends, I'm having problems with the connection to the COM2 serial port. I have connected one Pioneer 3 DX to a computer and I have written some code to show one string by the Hyperterminal. Actually, my problem is when I try to establish the connection between the robot and the serial port, it fails (it seems I don't set up the connection correctly but I'm not so sure). I would be very pleased if someone could suggest me something or check this code. Thanks in advance. int main(int argc, char **argv) { ArRobot robot; ArSerialConnection connection; Aria::init(); connection.setPort(ArUtil::COM2); connection.setBaud(9600); robot.setDeviceConnection(&connection); if(!robot.blockingConnect()) { ArLog::log(ArLog::Terse, "test1: Error connecting to the robot."); return 2; } ArLog::log(ArLog::Normal, "test1: Connected to the robot..."); robot.comStr(ArCommands::TTY2, "Hello, World!\n\r"); robot.run(true); Aria::exit(0); } --- Carlos Mateos -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090817/e0cb3054/attachment.html From paul.saulnier at gmail.com Wed Aug 19 12:52:10 2009 From: paul.saulnier at gmail.com (Paul Saulnier) Date: Wed, 19 Aug 2009 10:52:10 -0600 Subject: [Aria-users] Using ARIA with C# Message-ID: Hi Everyone, I am a student and am planning to be working in ARIA very soon. While I understand that code examples are provided for C++, I'm wondering if anyone has created a wrapper for C# or found an easy way to use the ARIA DLL in C#. Thanks! Paul -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090819/d7d2e1f6/attachment.html From jean-donald.georges.1 at ens.etsmtl.ca Wed Aug 19 21:21:00 2009 From: jean-donald.georges.1 at ens.etsmtl.ca (Jean Donald Georges) Date: Wed, 19 Aug 2009 21:21:00 -0400 Subject: [Aria-users] VC-C50i Message-ID: <000e01ca2134$7b5478f0$71fd6ad0$@georges.1@ens.etsmtl.ca> Hi, I'm trying to work with the new canon camera VC-C50i, but I'm having a lot of difficulties. If anyone have any infos of any kind it'll greatly appreciate. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090819/3d878d0d/attachment.html From lafary at mobilerobots.com Mon Aug 24 12:04:33 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 12:04:33 -0400 Subject: [Aria-users] serial port connection problems In-Reply-To: References: Message-ID: <4A92BA11.1070405@mobilerobots.com> What computer are you using to connect to the robot and what computer are you trying to see the "Hello, World!" on? What serial ports are these plugged into on the robot? The serial cable on the side of the robot with the lights and power switch is for the microcontroller->computer connection, you can't do anything else with it. The aux2 commands come out of a different serial port that doesn't have a readily accessible plug. These are all documented more in the Pioneer 3 operations manual. You really should just use the precompiled demo program until you make a connection to the robot, and then after that move on to your own program, then your own program that does the extra serial data. Matt LaFary MobileRobots Inc L. Carlos Mateos wrote: > Hello friends, > > I'm having problems with the connection to the COM2 serial port. I have > connected one Pioneer 3 DX to a computer and I have written some code to > show one string by the Hyperterminal. Actually, my problem is when I try > to establish the connection between the robot and the serial port, it > fails (it seems I don't set up the connection correctly but I'm not so > sure). I would be very pleased if someone could suggest me something or > check this code. > > Thanks in advance. > > int main(int argc, char **argv) > { > ArRobot robot; > ArSerialConnection connection; > > Aria::init(); > > connection.setPort(ArUtil::COM2); > connection.setBaud(9600); > > robot.setDeviceConnection(&connection); > > if(!robot.blockingConnect()) > { > ArLog::log(ArLog::Terse, "test1: Error connecting to the > robot."); > return 2; > } > > ArLog::log(ArLog::Normal, "test1: Connected to the robot..."); > > robot.comStr(ArCommands::TTY2, "Hello, World!\n\r"); > > robot.run(true); > Aria::exit(0); > } > > > > > --- > Carlos Mateos > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From lafary at mobilerobots.com Mon Aug 24 12:12:02 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 12:12:02 -0400 Subject: [Aria-users] Problems compiling In-Reply-To: References: Message-ID: <4A92BBD2.3060600@mobilerobots.com> Reed may have already answered you more directly, but if he hasn't please let us know what type of linux system you're trying to compile on and what Aria you're using (its in /usr/local/Aria/version) and what what compiler you're using (gcc -v). INT_MAX and INT_MIN should be defined in something like /usr/include/limits.h, you should also make sure the file is there. Matt LaFary MobileRobots Inc And C. E. wrote: > Hello everyone, I have problems while compiling examples in ../Aria/examples/make: > > this is the result: > ../Aria/examples$ 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 > > > also I try to compile one of the examples and I don`t now whats the problem: > > ../Aria/examples$ gcc actionExample.cpp -o actionExample -I /usr/local/Aria/include/ -L /usr/local/Aria/lib/ -lAria -lpthread -ldl > > > In file included from /usr/local/Aria/include/ArDeviceConnection.h:31, > from /usr/local/Aria/include/ArSerialConnection.h:31, > from /usr/local/Aria/include/Aria.h:31, > from actionExample.cpp:26: > > > /usr/local/Aria/include/ariaUtil.h: In static member function ?static int ArMath::roundInt(double)?: > /usr/local/Aria/include/ariaUtil.h:437: error: ?INT_MAX? was not declared in this scope > /usr/local/Aria/include/ariaUtil.h:439: error: ?INT_MIN? was not declared in this scope > > > /usr/local/Aria/include/ariaUtil.h: In static member function ?static long int ArMath::random()?: > /usr/local/Aria/include/ariaUtil.h:481: error: ?lrand48? was not declared in this scope > /usr/local/Aria/include/ariaUtil.h: In member function ?void ArTime::addMSec(long int)?: > > > /usr/local/Aria/include/ariaUtil.h:777: error: ?abs? was not declared in this scope > /usr/local/Aria/include/ariaUtil.h: In member function ?bool ArStrCaseCmpOp::operator()(const std::string&, const std::string&) const?: > > > /usr/local/Aria/include/ariaUtil.h:1131: error: ?strcasecmp? was not declared in this scope > In file included from /usr/local/Aria/include/ArTcpConnection.h:33, > from /usr/local/Aria/include/Aria.h:32, > > > from actionExample.cpp:26: > /usr/local/Aria/include/ArSocket.h: In member function ?void ArSocket::transfer(ArSocket*)?: > /usr/local/Aria/include/ArSocket.h:112: error: ?strcpy? was not declared in this scope > > > In file included from /usr/local/Aria/include/ArSick.h:35, > from /usr/local/Aria/include/ArSimpleConnector.h:35, > from /usr/local/Aria/include/Aria.h:33, > from actionExample.cpp:26: > > > /usr/local/Aria/include/ArCondition.h: At global scope: > /usr/local/Aria/include/ArCondition.h:50: warning: ?typedef? was ignored in this declaration > > Is there any one who knows what is happening here or what is the problem? > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From lafary at mobilerobots.com Mon Aug 24 12:15:44 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 12:15:44 -0400 Subject: [Aria-users] Doubts with lock and unlock functions In-Reply-To: References: Message-ID: <4A92BCB0.5010902@mobilerobots.com> You don't need to use lock and unlocks in the key handler calls because the key handling code is called from within the robot user tasks, which already have the robot locked. Note this is the default setup of the key handler, and the one you're using, if you were using the key handler another way (calling it yourself) then that wouldn't be true. In older versions of software the locks would actually cause a deadlock in Linux (but not Windows), though it'd work fine (just a little slower) in the latest version (for both). Matt LaFary MobileRobots Inc L. Carlos Mateos wrote: > Hello all, > > I am writing some example apps to learn how to use ARIA, but now I have > a question related to the ArRobot::lock() and ArRobot::unlock() > functions. I am wondering where I should wrap the code written above > with these functions. Should I allocate them within the functions to > move the robot (goUp ,goDown , turnLeft and turnRight) ? or in the main > of the program? > > class RobotControlHandler > { > ArRobot* myRobot; > ArFunctorC myUpCB; > ArFunctorC myLeftCB; > ArFunctorC myRightCB; > ArFunctorC myDownCB; > public: > RobotControlHandler(ArRobot* robot): > myRobot(robot), > myUpCB(this, &RobotControlHandler::goUp), > myLeftCB(this, &RobotControlHandler::turnLeft), > myRightCB(this, &RobotControlHandler::turnRight), > myDownCB(this, &RobotControlHandler::goDown) > { } > > void setKeyHandlers() > { > ArKeyHandler* keyHandler=Aria::getKeyHandler(); > if(!keyHandler) > { > keyHandler=new ArKeyHandler; > Aria::setKeyHandler(keyHandler); > myRobot->attachKeyHandler(keyHandler); > } > > keyHandler->addKeyHandler(keyHandler->UP,&myUpCB); > keyHandler->addKeyHandler(keyHandler->LEFT,&myLeftCB); > keyHandler->addKeyHandler(keyHandler->DOWN,&myDownCB); > keyHandler->addKeyHandler(keyHandler->RIGHT,&myRightCB); > } > > > void goUp() > { > > //myRobot->lock(); > myRobot->move(100); > //myRobot->unlock(); > } > > void goDown() > { > //myRobot->lock(); > myRobot->move(-100); > //myRobot->unlock(); > } > > void turnRight() > { > //myRobot->lock(); > myRobot->setHeading(-45); > //myRobot->unlock(); > } > > void turnLeft() > { > //myRobot->lock(); > myRobot->setHeading(45); > //myRobot->unlock(); > } > > }; > //*****************************************************************************************// > //*****************************************************************************************// > //*****************************************************************************************// > > int main(int argc, char** argv) > { > > Aria::init(); > ArArgumentParser p(&argc,argv); > p.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnection(&p,&robot); > robotConnection.connectRobot(); > > robot.runAsync(true); > > robot.lock(); > > RobotControlHandler robotHandler(&robot); > robotHandler.setKeyHandlers(); > robot.comInt(ArCommands::ENABLE, 1); > > robot.unlock(); > > > robot.waitForRunExit(); > Aria::exit(0); > } > > > Thanks in advance > > -- > L Carlos Mateos Ca?as > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From lafary at mobilerobots.com Mon Aug 24 12:22:55 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 12:22:55 -0400 Subject: [Aria-users] VC-C50i In-Reply-To: <000e01ca2134$7b5478f0$71fd6ad0$@georges.1@ens.etsmtl.ca> References: <000e01ca2134$7b5478f0$71fd6ad0$@georges.1@ens.etsmtl.ca> Message-ID: <4A92BE5F.3010408@mobilerobots.com> Did you buy the camera from us? If so, it should work without too much difficulties. The first thing you'll want to do is turn the whole robot off, then back on, then make sure the power light on the camera is on. One thing to note is that if you have a pioneer 3 you may need to press one of the power buttons (on a dx it's near the power switch, on an AT it's in the well on top) to turn the camera on. Then go into aria demo (the precompiled demoStatic if your version of Aria has one, if not consider getting the latest) and go into camera mode by pressing 'C' then tell it to use a Canon VCC4 (compatible with yours) by pressing '2' then tell it to use AUX1 by pressing '1'. If that doesn't work then restart demo and try 'c' '2' again but then try with AUX2 by pressing the '2'. If it still isn't working, let us know how those steps went, and maybe give us the serial number for your robot. Matt LaFary MobileRobots Inc Jean Donald Georges wrote: > Hi, > > > > I?m trying to work with the new canon camera VC-C50i, but I?m having a > lot of difficulties. If anyone have any infos of any kind it?ll greatly > appreciate. > > > > __________ Information from ESET Smart Security, version of virus > signature database 4349 (20090819) __________ > > The message was checked by ESET Smart Security. > > http://www.eset.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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From lafary at mobilerobots.com Mon Aug 24 13:01:20 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 13:01:20 -0400 Subject: [Aria-users] Using ARIA with C# In-Reply-To: References: Message-ID: <4A92C760.4090304@mobilerobots.com> There have been some discussions about Aria and C# on the list before. You can find them by searching the archive. The easiest way to do that is probably to go to http://lists.mobilerobots.com then enter the search terms into the archive search on the right. You should check out the previous discussions, but if you want a wrapper for C# you can probably make one with SWIG these days, we have wrappers for Java and Python already and the procedure for building those is included in the Aria distribution, so you'd have something to go from. Matt LaFary MobileRobots Inc Paul Saulnier wrote: > Hi Everyone, > > I am a student and am planning to be working in ARIA very soon. While I > understand that code examples are provided for C++, I'm wondering if > anyone has created a wrapper for C# or found an easy way to use the ARIA > DLL in C#. > > Thanks! > > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From jean-donald.georges.1 at ens.etsmtl.ca Mon Aug 24 13:25:29 2009 From: jean-donald.georges.1 at ens.etsmtl.ca (Jean Donald Georges) Date: Mon, 24 Aug 2009 13:25:29 -0400 Subject: [Aria-users] Debian Password Message-ID: <000a01ca24df$e11e0b70$a35a2250$@georges.1@ens.etsmtl.ca> How can I reset the main password for the debian OS on the P3-AT robot. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090824/2be829b5/attachment.html From lafary at mobilerobots.com Mon Aug 24 17:26:38 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 24 Aug 2009 17:26:38 -0400 Subject: [Aria-users] Debian Password In-Reply-To: <000a01ca24df$e11e0b70$a35a2250$@georges.1@ens.etsmtl.ca> References: <000a01ca24df$e11e0b70$a35a2250$@georges.1@ens.etsmtl.ca> Message-ID: <4A93058E.10702@mobilerobots.com> Google is a good reference for these things since there's tons of information online about using Linux. The robot just runs a standard debian install, so there's nothing really special in terms of using the linux on it. If you google for 'reset root password linux' without the quotes you should see some articles about how to do it. Matt LaFary MobileRobots Inc Jean Donald Georges wrote: > How can I reset the main password for the debian OS on the P3-AT robot. > > > > __________ Information from ESET Smart Security, version of virus > signature database 4363 (20090824) __________ > > The message was checked by ESET Smart Security. > > http://www.eset.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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From iamkyunh at gmail.com Tue Aug 25 04:24:20 2009 From: iamkyunh at gmail.com (july moe) Date: Tue, 25 Aug 2009 17:24:20 +0900 Subject: [Aria-users] GPS connection error in Baud rate, Message-ID: <122e5e7d0908250124h6250fbbbm9a51e7bbb734e7e5@mail.gmail.com> Hello everyone, I am just trying to use GPS with P3-AT. Unfortunately, I can not connect GPS with robot well. BAUD rate for our GPS is 19200. I have tried to change the GPS`s baud rate from 9600, default value, to 19200 in ArGPSConnector.cpp as I would like to use that default value. But when connecting, it still use 9600 baud rate. However, when GPS is connected through Hyperterminal, it works well. Please, anyone can tell me how can I change the baud rate in ARIA 2.7. Also, if I don`t want to connect GPS with default values(gpsType, gpsBaudrate, etc), how can I set the options for our GPS? Thanks. Yu Yu Lwin -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090825/b2c8aa43/attachment.html From wuiscmc at gmail.com Tue Aug 25 06:06:38 2009 From: wuiscmc at gmail.com (L. Carlos Mateos) Date: Tue, 25 Aug 2009 11:06:38 +0100 Subject: [Aria-users] serial port connection problems In-Reply-To: <4A92BA11.1070405@mobilerobots.com> References: <4A92BA11.1070405@mobilerobots.com> Message-ID: Thank you very much for your reply Matt. Actually , I did not understand that I was trying something I could not do. The way I wanted to use the serial port was wrong, but I got the desired action when I established an ArSerialConnection independent of the ArRobot. So I was trying to handle the incoming packets badly. When I set one independent from the ArRobot ArSerialConnection and added some functors to handle that connection as user tasks, I realized that I was able to handle the packets incoming from an external computer connected easily. Carlos 2009/8/24 Matt LaFary > What computer are you using to connect to the robot and what computer > are you trying to see the "Hello, World!" on? What serial ports are > these plugged into on the robot? > > The serial cable on the side of the robot with the lights and power > switch is for the microcontroller->computer connection, you can't do > anything else with it. The aux2 commands come out of a different > serial port that doesn't have a readily accessible plug. These are all > documented more in the Pioneer 3 operations manual. > > You really should just use the precompiled demo program until you make a > connection to the robot, and then after that move on to your own > program, then your own program that does the extra serial data. > > Matt LaFary > MobileRobots Inc > > > L. Carlos Mateos wrote: > > Hello friends, > > > > I'm having problems with the connection to the COM2 serial port. I have > > connected one Pioneer 3 DX to a computer and I have written some code to > > show one string by the Hyperterminal. Actually, my problem is when I try > > to establish the connection between the robot and the serial port, it > > fails (it seems I don't set up the connection correctly but I'm not so > > sure). I would be very pleased if someone could suggest me something or > > check this code. > > > > Thanks in advance. > > > > int main(int argc, char **argv) > > { > > ArRobot robot; > > ArSerialConnection connection; > > > > Aria::init(); > > > > connection.setPort(ArUtil::COM2); > > connection.setBaud(9600); > > > > robot.setDeviceConnection(&connection); > > > > if(!robot.blockingConnect()) > > { > > ArLog::log(ArLog::Terse, "test1: Error connecting to the > > robot."); > > return 2; > > } > > > > ArLog::log(ArLog::Normal, "test1: Connected to the robot..."); > > > > robot.comStr(ArCommands::TTY2, "Hello, World!\n\r"); > > > > robot.run(true); > > Aria::exit(0); > > } > > > > > > > > > > --- > > Carlos Mateos > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > 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 > > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -- L Carlos Mateos Ca?as -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090825/8d580f92/attachment-0001.html From lafary at mobilerobots.com Tue Aug 25 08:20:50 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Tue, 25 Aug 2009 08:20:50 -0400 Subject: [Aria-users] GPS connection error in Baud rate, In-Reply-To: <122e5e7d0908250124h6250fbbbm9a51e7bbb734e7e5@mail.gmail.com> References: <122e5e7d0908250124h6250fbbbm9a51e7bbb734e7e5@mail.gmail.com> Message-ID: <4A93D722.8040207@mobilerobots.com> Just changing the default value in ArGPSConnector.cpp won't actually change the baud rate it tries to use. You need to either pass in the argument -gpsBaud or to go into params/p3at.p and change the GPSBaud argument there from 9600 to 19200. You'll find the other options for GPS by running the gpsExample with the -h argument, and in the GPS parameter section of p3at.p. You can also find arguments for other accessories this way (in the -h and in the .p file). Matt LaFary MobileRobots Inc july moe wrote: > Hello everyone, > > I am just trying to use GPS with P3-AT. > Unfortunately, I can not connect GPS with robot well. > BAUD rate for our GPS is 19200. > I have tried to change the GPS`s baud rate from 9600, default value, to > 19200 in ArGPSConnector.cpp as I would like to use that default value. > But when connecting, it still use 9600 baud rate. > > However, when GPS is connected through Hyperterminal, it works well. > > Please, anyone can tell me how can I change the baud rate in ARIA 2.7. > Also, if I don`t want to connect GPS with default values(gpsType, > gpsBaudrate, etc), how can I set the options for our GPS? > > Thanks. > > Yu Yu Lwin > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From nothingsburning at gmail.com Tue Aug 25 19:45:57 2009 From: nothingsburning at gmail.com (And C. E.) Date: Tue, 25 Aug 2009 18:45:57 -0500 Subject: [Aria-users] Problems compiling In-Reply-To: <4A92BBD2.3060600@mobilerobots.com> References: <4A92BBD2.3060600@mobilerobots.com> Message-ID: Hi, I already read the knowlege base in the section compilers so i was working with Debian 5.0, Aria 2.5 and gcc 4.3.2 so I upgrade Aria to version 2.7 and the problem was solved. Thanks. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090825/52317651/attachment.html From budsbd at gmail.com Wed Aug 26 21:00:29 2009 From: budsbd at gmail.com (Pedro d'Aquino) Date: Wed, 26 Aug 2009 22:00:29 -0300 Subject: [Aria-users] Is there an open-source alternative to SonARNL? Message-ID: <9f2afcd50908261800v60533e18od82f77c91fc42bfd@mail.gmail.com> Dear all, I've been running some tests on my P2DX and have found that, for a certain test scenario, SonARNL is not able to successfully localize the robot. I wanted to maybe tweak the algorithm, or at the very least learn how it works, but I understand that all MobileRobots software apart from ARIA is closed-source. So I'm wondering: is there an open-source localization library that will work on my robot? I have tried using Player and its "amcl" driver, but I was told it was written for laser-equipped robots, which is unfortunately not my case. Has anyone got a better idea? Thanks a lot, Pedro d'Aquino -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090826/8adf3055/attachment.html From federico.tibaldi at polito.it Thu Aug 27 02:47:29 2009 From: federico.tibaldi at polito.it (Federico Tibaldi) Date: Thu, 27 Aug 2009 08:47:29 +0200 Subject: [Aria-users] Is there an open-source alternative to SonARNL? In-Reply-To: <9f2afcd50908261800v60533e18od82f77c91fc42bfd@mail.gmail.com> References: <9f2afcd50908261800v60533e18od82f77c91fc42bfd@mail.gmail.com> Message-ID: <4A962C01.5070905@polito.it> Hi, I'm working about the localization since 2008 with a P3DX rover. In my opinion, the problem is not SonARNL, but the sonars because it is not precise and many reflection noise. For this reason amcl uses the laser and not the sonar. Good luck. Federico Pedro d'Aquino wrote: > Dear all, > > I've been running some tests on my P2DX and have found that, for a > certain test scenario, SonARNL is not able to successfully localize > the robot. I wanted to maybe tweak the algorithm, or at the very least > learn how it works, but I understand that all MobileRobots software > apart from ARIA is closed-source. So I'm wondering: is there an > open-source localization library that will work on my robot? > > I have tried using Player and its "amcl" driver, but I was told it was > written for laser-equipped robots, which is unfortunately not my case. > Has anyone got a better idea? > > Thanks a lot, > > Pedro d'Aquino > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From nothingsburning at gmail.com Thu Aug 27 20:46:19 2009 From: nothingsburning at gmail.com (And C. E.) Date: Thu, 27 Aug 2009 19:46:19 -0500 Subject: [Aria-users] Canon camera VC-C50i and openCV Message-ID: Hi, I have a Canon camera VC-C50i and my problem is when working with opencv the camera shows a distorted image, instead of a normal image, the camera works well with program SAV, but the problem is when I try to obtain the image with opencv, it gets a wrong image, I already red the aria section "Using OpenCV with Aria" and recompiled opencv many times with the changes in: #define CHANNEL_NUMBER 1 and selectedChannel.norm = VIDEO_MODE_NTSC; for this: 1) #define CHANNEL_NUMBER 1 and selectedChannel.norm = VIDEO_MODE_PAL; 2) #define CHANNEL_NUMBER 0 and selectedChannel.norm = VIDEO_MODE_PAL; this changes where in the file "cvcap_v4l.cpp" , and the code where I change the channel norm was: { if(capture->capability.channels>0) { struct video_channel selectedChannel; selectedChannel.channel=CHANNEL_NUMBER; if (ioctl(capture->deviceHandle, VIDIOCGCHAN , &selectedChannel) != -1) { /* set the video mode to ( VIDEO_MODE_PAL, VIDEO_MODE_NTSC, VIDEO_MODE_SECAM) */ selectedChannel.norm = VIDEO_MODE_NTSC; /********* here was the change ************/ if (ioctl(capture->deviceHandle, VIDIOCSCHAN , &selectedChannel) == -1) { /* Could not set selected channel - Oh well */ //printf("\n%d, %s not NTSC capable.\n",selectedChannel.channel, selectedChannel.name); } /* End if */ } /* End if */ } /* End if */ } so the image get it from opencv was not good in both cases, this is the code that I used for get it the images from the canon camera: #include #include int main(){ CvCapture* camaraWeb = cvCaptureFromCAM(-1); IplImage* img = NULL; if (camaraWeb == NULL){ fprintf(stderr, "No se puede capturar video"); } cvNamedWindow("Camara", CV_WINDOW_AUTOSIZE); int a; for (;;){ img = cvQueryFrame(camaraWeb); cvShowImage("Camara", img); a=cvWaitKey(2); if ( a == 27); break; } return 0; } the version of linux that I'm using is: Debian 5.0; with v4l2 drivers and gcc version 4.3.2 and opencv 1.0.0 So I don?t now why the image in opencv is distorded and with the software included with the robot works perpect, did I miss something, or what happends? Someone that could help me to configure the opencv library or drivers to solve my problem? I send an image of how the image obtained with opencv is seen. Thanks -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090827/885c1963/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: example.jpg Type: image/jpeg Size: 84780 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090827/885c1963/attachment-0001.jpg From iamkyunh at gmail.com Fri Aug 28 02:13:13 2009 From: iamkyunh at gmail.com (july moe) Date: Fri, 28 Aug 2009 15:13:13 +0900 Subject: [Aria-users] Aria-users Digest, Vol 16, Issue 8 In-Reply-To: References: Message-ID: <122e5e7d0908272313q7bed480cg3a9de0f78cb03879@mail.gmail.com> Dear Matt LaFary, Thanks you very much for your advise. I would like to know how can I open and modify the contents of params\p3at.p which is Matlab P file type. I have tried to open that file but still can not. Also, how can I give commands? Did you mean passing in the arguments is giving commands through the standard input\output window? Yu Yu Lwin Tokai University > > Date: Tue, 25 Aug 2009 08:20:50 -0400 > From: Matt LaFary > Subject: Re: [Aria-users] GPS connection error in Baud rate, > To: "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > Message-ID: <4A93D722.8040207 at mobilerobots.com> > Content-Type: text/plain; charset=ISO-8859-1; format=flowed > > Just changing the default value in ArGPSConnector.cpp won't actually > change the baud rate it tries to use. > > You need to either pass in the argument -gpsBaud or to go into > params/p3at.p and change the GPSBaud argument there from 9600 to 19200. > > You'll find the other options for GPS by running the gpsExample with the > -h argument, and in the GPS parameter section of p3at.p. You can also > find arguments for other accessories this way (in the -h and in the .p > file). > > Matt LaFary > MobileRobots Inc > > july moe wrote: > > Hello everyone, > > > > I am just trying to use GPS with P3-AT. > > Unfortunately, I can not connect GPS with robot well. > > BAUD rate for our GPS is 19200. > > I have tried to change the GPS`s baud rate from 9600, default value, to > > 19200 in ArGPSConnector.cpp as I would like to use that default value. > > But when connecting, it still use 9600 baud rate. > > > > However, when GPS is connected through Hyperterminal, it works well. > > > > Please, anyone can tell me how can I change the baud rate in ARIA 2.7. > > Also, if I don`t want to connect GPS with default values(gpsType, > > gpsBaudrate, etc), how can I set the options for our GPS? > > > > Thanks. > > > > Yu Yu Lwin > > > > > > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090828/b7288abd/attachment.html From frankhermes at gmail.com Fri Aug 28 04:02:54 2009 From: frankhermes at gmail.com (Frank Hermes) Date: Fri, 28 Aug 2009 10:02:54 +0200 Subject: [Aria-users] Aria-users Digest, Vol 16, Issue 8 In-Reply-To: <122e5e7d0908272313q7bed480cg3a9de0f78cb03879@mail.gmail.com> References: <122e5e7d0908272313q7bed480cg3a9de0f78cb03879@mail.gmail.com> Message-ID: <4A978F2E.3010006@gmail.com> The file "params\p3at.p" is only a normal ASCII file =) Open it with a normal text editor (e.g. like "notepad.exe" or "wordpad.exe" in windows). Best Frank july moe schrieb: > Dear Matt LaFary, > > Thanks you very much for your advise. > > I would like to know how can I open and modify the contents of params\p3at.p > which is Matlab P file type. > I have tried to open that file but still can not. > > Also, how can I give commands? Did you mean passing in the arguments is > giving commands through the standard input\output window? > > Yu Yu Lwin > Tokai University > >> Date: Tue, 25 Aug 2009 08:20:50 -0400 >> From: Matt LaFary >> Subject: Re: [Aria-users] GPS connection error in Baud rate, >> To: "Help, discussion and announcements for MobileRobots' Advanced >> Robot Interface for Applications (ARIA) " >> >> Message-ID: <4A93D722.8040207 at mobilerobots.com> >> Content-Type: text/plain; charset=ISO-8859-1; format=flowed >> >> Just changing the default value in ArGPSConnector.cpp won't actually >> change the baud rate it tries to use. >> >> You need to either pass in the argument -gpsBaud or to go into >> params/p3at.p and change the GPSBaud argument there from 9600 to 19200. >> >> You'll find the other options for GPS by running the gpsExample with the >> -h argument, and in the GPS parameter section of p3at.p. You can also >> find arguments for other accessories this way (in the -h and in the .p >> file). >> >> Matt LaFary >> MobileRobots Inc >> >> july moe wrote: >>> Hello everyone, >>> >>> I am just trying to use GPS with P3-AT. >>> Unfortunately, I can not connect GPS with robot well. >>> BAUD rate for our GPS is 19200. >>> I have tried to change the GPS`s baud rate from 9600, default value, to >>> 19200 in ArGPSConnector.cpp as I would like to use that default value. >>> But when connecting, it still use 9600 baud rate. >>> >>> However, when GPS is connected through Hyperterminal, it works well. >>> >>> Please, anyone can tell me how can I change the baud rate in ARIA 2.7. >>> Also, if I don`t want to connect GPS with default values(gpsType, >>> gpsBaudrate, etc), how can I set the options for our GPS? >>> >>> Thanks. >>> >>> Yu Yu Lwin >>> >>> >>> > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From lafary at mobilerobots.com Mon Aug 31 10:07:44 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 31 Aug 2009 10:07:44 -0400 Subject: [Aria-users] Aria-users Digest, Vol 16, Issue 8 In-Reply-To: <122e5e7d0908272313q7bed480cg3a9de0f78cb03879@mail.gmail.com> References: <122e5e7d0908272313q7bed480cg3a9de0f78cb03879@mail.gmail.com> Message-ID: <4A9BD930.10800@mobilerobots.com> As Frank's email says you can just use a text editor on the .p file. For arguments, what I mean are the arguments you use to start the program. In linux you'd start it from a shell, in Windows from a command prompt... in either you'd just add the argument after the command name. For example 'gpsexample -gpsbaud 9600'. Matt LaFary MobileRobots Inc july moe wrote: > Dear Matt LaFary, > > Thanks you very much for your advise. > > I would like to know how can I open and modify the contents of > params\p3at.p which is Matlab P file type. > I have tried to open that file but still can not. > > Also, how can I give commands? Did you mean passing in the arguments is > giving commands through the standard input\output window? > > Yu Yu Lwin > Tokai University > > > Date: Tue, 25 Aug 2009 08:20:50 -0400 > From: Matt LaFary > > Subject: Re: [Aria-users] GPS connection error in Baud rate, > To: "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > > Message-ID: <4A93D722.8040207 at mobilerobots.com > > > Content-Type: text/plain; charset=ISO-8859-1; format=flowed > > Just changing the default value in ArGPSConnector.cpp won't actually > change the baud rate it tries to use. > > You need to either pass in the argument -gpsBaud or to go into > params/p3at.p and change the GPSBaud argument there from 9600 to 19200. > > You'll find the other options for GPS by running the gpsExample with the > -h argument, and in the GPS parameter section of p3at.p. You can also > find arguments for other accessories this way (in the -h and in the .p > file). > > Matt LaFary > MobileRobots Inc > > july moe wrote: > > Hello everyone, > > > > I am just trying to use GPS with P3-AT. > > Unfortunately, I can not connect GPS with robot well. > > BAUD rate for our GPS is 19200. > > I have tried to change the GPS`s baud rate from 9600, default > value, to > > 19200 in ArGPSConnector.cpp as I would like to use that default > value. > > But when connecting, it still use 9600 baud rate. > > > > However, when GPS is connected through Hyperterminal, it works well. > > > > Please, anyone can tell me how can I change the baud rate in ARIA > 2.7. > > Also, if I don`t want to connect GPS with default values(gpsType, > > gpsBaudrate, etc), how can I set the options for our GPS? > > > > Thanks. > > > > Yu Yu Lwin > > > > > > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads.