From somerw at t2.technion.ac.il Mon Jun 1 06:42:13 2009 From: somerw at t2.technion.ac.il (Omer Weissbrod) Date: Mon, 1 Jun 2009 13:42:13 +0300 Subject: [Aria-users] Java interface problem with ArSerialConnection Message-ID: Hello, I've ran into a problem with ArSerialConnection's read method in Java. The method accepts a java String (which should be converted to a c char* type), into which the data should be written. However, the string which gets sent to the method always comes back unchanged, even though the return value of the method indicated that it managed to read the expected number of bytes. For example, I have a ArSerialConnection object called con which is connected to the Com1 port. If I write the following lines of code: String str = "abc"; int bytesRead = con.read(str, 3, 100); then the return value is 3, but the string still contains the characters "abc". I've written the exact same code in c++ and the string is changed as I expect it to be, so the problem is in the Java implementation only. Is this a known problem or am I doing somethig wrong? Thanks in advnace for your help, Omer -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090601/4dc5caa4/attachment.html From info at christopher-kirsch.de Tue Jun 2 11:18:13 2009 From: info at christopher-kirsch.de (Christopher Kirsch) Date: Tue, 02 Jun 2009 17:18:13 +0200 Subject: [Aria-users] SICK Laser Message-ID: <4A2542B5.4070100@christopher-kirsch.de> Hello!! I see that there are a few change in ARIA 2.7. Now I have the Problem with the SICK Laser. How I have to modify this Examples, so it works with the new ArLaser? I need help because I tried everything but I don't understand how ArLaserConnection etc. works, so I need your help!!!! Example: int main(int argc, char** argv) { Aria::init(); ArRobot robot; ArSick laser; ArSimpleConnector connection(&argc,argv); if(!connection.parseArgs()) { printf("....\n"); Aria::exit(1); } robot.addRangeDevice(&laser); if(!connection.connectRobot(&derRoboter)) { printf("....\n"); Aria::exit(2); } robot.runAsync(true); connection.setupLaser(&laser); laser.runAsync(); if (!laser.blockingConnect()) { printf("....\n"); Aria::exit(3); } } Thanks for your help!! From reed at mobilerobots.com Tue Jun 2 14:42:51 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 02 Jun 2009 14:42:51 -0400 Subject: [Aria-users] Bugfix Releases: Aria 2.7.1 and BaseArnl 1.7.1 for Windows Message-ID: <4A2572AB.1040603@mobilerobots.com> Aria 2.7.1 fixes a bug that can sometimes appear on Windows. BaseArnl 1.7.1 includes this fix as well. ArLMS2xx (class for connecting to the SICK LMS-200 laser rangefinder) would sometimes end up in a mode that caused it to erroneously fail to connect to the laser. (Symptoms are that it would log that it was connected to the simulator, but then log that not data was received, and disconnect.) Also fixed is some laser connection behavior that would cause problems for the ARIA 'demo' example, but not cause problems for most other programs. Only Windows was affected, and only the Windows packages for ARIA and BaseArnl have been updated. ARNL, MOGS and SONARNL 1.7.0 localization libraries will work with BaseArnl 1.7.1. ArPowerCube, Speech, and the other 2.7.0 ARIA accessory libraries will also work with ARIA 2.7.1. If you have any questions, let us know. You can find the updates at http://robots.mobilerobots.com/wiki/ARIA and http://robots.mobilerobos.com/wiki/BaseArnl -- Reed Hedges Developer Software Support MobileRobots, Inc. From kdosenba at purdue.edu Wed Jun 3 15:08:33 2009 From: kdosenba at purdue.edu (Seraj Dosenbach) Date: Wed, 3 Jun 2009 15:08:33 -0400 Subject: [Aria-users] Aria Camera support Message-ID: <1244056113.4a26ca314589b@webmail.purdue.edu> Hi, I am conducting research at Purdue University with a P3DX robot using Aria to control it. We are mounting ether a Cannon or Sony PTZ camera on our robot soon and I have been tasked with getting the video capturing portion (among other things) to work. I have searched the Aria documentation on how to perform this task but have not been very successful in determining much from the somewhat vague descriptions. ArCameraCommands::GET_VIDEO is replaced by ArCameraCommands::GET_PICTURE but there is no help on what the second is or how to use it. Unfortunately I do not have a camera with me to test on which is partly why I am asking for help with not much code to show. I am wondering if anyone has used any of the aria camera functions lately (as it seems some of the older functions have been deprecated) and could inform me as to whether there is any hope. Perhaps a nudge towards the functions that would be most beneficial would also be greatly appreciated. Thank you, Seraj From andb at mmmi.sdu.dk Wed Jun 3 15:10:25 2009 From: andb at mmmi.sdu.dk (=?iso-8859-1?Q?Anders_B=F8gild?=) Date: Wed, 3 Jun 2009 21:10:25 +0200 Subject: [Aria-users] ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Message-ID: <4B92F0DEBBAF69418C16E70309ED46095805EB@ADM-EXCH0D.adm.c.sdu.dk> Hi List Just as Suha Kaseer wrote on the 28/5 2009 (subject: p2dx ArRobotPacketReceiver), I am also getting the "ArRobotPacketReceiver::receivePacket: bad packet, bad checksum" messages. In a recent attempt to fix the problem I have upgraded the onboard computer, that connects to the robot microcontroller via ttyS0, to the new stable Debian/Lenny and made sure that the serial port IRQ's are the same in the BIOS and Linux (using setserial). Also I have tried to reroute the serial cable inside the robot so that it doesn't run close to other wires, and I have checked that the shielding around the cable was intact and correct (pin 5 and shield connected in one end to avoid ground loops, I have been told). Still I get the bad packet messages. In the printout below it can be seen that during a ca. 30 startup and run period of arnlServer, there is about 8 bad packet messages. The robot runs fine on small trips, but during e.g. an 1 hour trip it will go into a non runnable state that can only be recovered from by disabling and re-enabling the drive system (pressing the blue button twice). It seems that this might have something to do with the bad packet messages. anders at seekur:~$ /usr/local/Arnl/examples/arnlServer Could not connect to simulator, connecting to robot through serial port /dev/ttyS0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: (deleted) Type: Pioneer Subtype: seekur Loaded robot parameters from seekur.p Loaded robot parameters from (deleted).p on top of seekur.p robot parameters ArLaserConnector: Using robot params for connecting to laser ArLaserConnector: Opened serial port /dev/ttyS1 lms2xx_1: waiting for laser to power on. ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum lms2xx_1: Connected to the laser. Creating laser localization task ArServerBase: Started on tcp port 7272 and udp port 7272. MultiRobotPeer: NewFingerprint: f9bca434fe8b27f8460f3dc99213e716 MultiRobotPeer: Robot precedence 7516 (class 0 base 7516) ArConfig: Ignoring unknown section 'Localization Manager settings' ArConfig: Ignoring unknown section 'Sonar Localization settings' ArConfig: Ignoring unknown section 'GPS Localization settings' ArMutex::unlock: Trying to unlock a mutex ('ArMap::myMutex') which this thread ('' 143868168 pid 1837) does not own Mode stop added as default mode Opening pose file for reading robotPose from fileName given robotPose Restoring pose to -9809 -1513 -178 from line -9809 -1513 -178 Loading config file params/arnl.p into ArConfig... Initializing log from config ArLog::init: StdOut Normal Not logging time Not also printing ArMap::processFile() robolab05.map ArMap::readFile() robolab05.map ArMapSimple::setSourceFileName((null), /usr/local/Arnl/examples/robolab05.map) stripped base dir = robolab05.map Opening map file /usr/local/Arnl/examples/robolab05.map, given robolab05.map ArMapScan::handleNumPoints() set num points to 16494 Checking default on stop mode Activated stop mode as default ArMapSimple::readFile() /usr/local/Arnl/examples/robolab05.map took 53 msecs to read map of 16494 points ArMapSimple::updateMapFileInfo map robolab05.map checksum = "f383971e5de62d568364d269c6b49e56" size = 186457 time = Wed Jun 3 09:14:37 2009 ArMapSimple::operator= map robolab05.map checksum = "f383971e5de62d568364d269c6b49e56" size = 186457 time = Wed Jun 3 09:14:37 2009 ArMap::readFile() took 4 msecs to copy loading map ArServerHandlerMap::mapChanged() orig = new = robolab05.map Directory for maps and file serving: /usr/local/Arnl/examples/ See the ARNL README.txt for more information LaserLocaLog: Start localization at -9809 -1513 -178.0 Could not localize robot at home (best score -1, minimum 0.2). Server running. To exit, press escape. ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Here is a little info about the the onboard PC's serial ports, and the versions of the Linux kernel, gcc, Aria and Arnl running: anders at seekur:~$ ps -a PID TTY TIME CMD 1850 pts/0 00:00:00 ps anders at seekur:~$ gcc -dumpversion 4.3.2 anders at seekur:~$ uname -a Linux seekur 2.6.26-2-686 #1 SMP Mon May 11 19:00:59 UTC 2009 i686 GNU/Linux anders at seekur:~$ cat /usr/local/Aria/version.txt ARIA Version 2.7.0 April 14, 2009 MobileRobots Inc. anders at seekur:~$ cat /usr/local/Arnl/ARNL-version.txt ARNL Version 1.7.0 April 21, 2009 gcc-4.1.2 MobileRobots Inc. anders at seekur:~$ setserial /dev/ttyS0 /dev/ttyS0, UART: 16550A, Port: 0x03f8, IRQ: 11 anders at seekur:~$ setserial /dev/ttyS1 /dev/ttyS1, UART: 16550A, Port: 0x02f8, IRQ: 10 anders at seekur:~$ setserial /dev/ttyS2 /dev/ttyS2, UART: 16550A, Port: 0x03e8, IRQ: 3 anders at seekur:~$ setserial /dev/ttyS3 /dev/ttyS3, UART: 16550A, Port: 0x02e8, IRQ: 4 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090603/6e10a29c/attachment-0001.html From reed at mobilerobots.com Wed Jun 3 16:25:37 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 03 Jun 2009 16:25:37 -0400 Subject: [Aria-users] Visual servoing In-Reply-To: <658100.15861.qm@web52503.mail.re2.yahoo.com> References: <658100.15861.qm@web52503.mail.re2.yahoo.com> Message-ID: <4A26DC41.6090203@mobilerobots.com> Hi Irina, You can search past aria-users messages here: http://lists.mobilerobots.com/pipermail/aria-users/ and older messages here: http://lists.mobilerobots.com/pipermail/aria-users/old/ I recall some other users in the past using Matlab and discussing it. You should refer also to the Matlab documentation of course. Anyone have any tips for Irina? Best, Reed Irina Madalina wrote: > > > > Hy! > > I'm trying to control PeopleBot, from Active Media using Matlab. So, i > have written a code in Matlab, but I don't now how to send to the robot > the parametres for its control. I have read something about mex file, or > to compile my code in C++ and then send it to the robot trough ARIA, but > i hope it will be an easy way to control the robot only using Matlab. > > Could you help me with some tutorials or some examples? > > I have to add that I'm using Image processing in Matlab and the name of > my paper is : "Trajectory following using a camera " > Thank you! From reed at mobilerobots.com Wed Jun 3 16:27:22 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 03 Jun 2009 16:27:22 -0400 Subject: [Aria-users] Java interface problem with ArSerialConnection In-Reply-To: References: Message-ID: <4A26DCAA.4000708@mobilerobots.com> Hi Omer, I beleive this is simply a limitation of the automatically generated Java wrapper for that function. To make it work will require adding some special code in the SWIG wrapper definition (wrapper.i), I think. I began investigating this a while ago but had to put it aside to work on other things. I will go back to it at some point, but if you or anyone else wants to help work on this let me know. Reed Omer Weissbrod wrote: > Hello, > > I've ran into a problem with ArSerialConnection's read method in Java. > The method accepts a java String (which should be converted to a c char* > type), into which the data should be written. > However, the string which gets sent to the method always comes back > unchanged, even though the return value of the method indicated that it > managed to read the expected number of bytes. > For example, I have a ArSerialConnection object called con which is > connected to the Com1 port. > If I write the following lines of code: > > String str = "abc"; > int bytesRead = con.read(str, 3, 100); > then the return value is 3, but the string still contains the characters > "abc". > > I've written the exact same code in c++ and the string is changed as I > expect it to be, so the problem is in the Java implementation only. > > Is this a known problem or am I doing somethig wrong? > > Thanks in advnace for your help, > Omer > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com From reed at mobilerobots.com Wed Jun 3 16:30:09 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 03 Jun 2009 16:30:09 -0400 Subject: [Aria-users] SICK Laser In-Reply-To: <4A2542B5.4070100@christopher-kirsch.de> References: <4A2542B5.4070100@christopher-kirsch.de> Message-ID: <4A26DD51.6060509@mobilerobots.com> Hi Christopher, the code you give below should continue to work as it did before -- i.e. ArSick, ArSimpleConnector, etc. are all still present in ARIA. If you want to use ArLaserConnector and ArLaser, see the API reference documentation and some of the example files that have been updated to use them (not all examples do yet). demo uses the new method, also wander.cpp I believe, as do the arnlServer.cpp and sonarnlServer.cpp examples from ARNL and SONARNL. Reed Christopher Kirsch wrote: > Hello!! > > I see that there are a few change in ARIA 2.7. Now I have the Problem > with the SICK Laser. > How I have to modify this Examples, so it works with the new ArLaser? > I need help because I tried everything but I don't understand how > ArLaserConnection etc. works, so I need your help!!!! > > Example: > int main(int argc, char** argv) > { > Aria::init(); > ArRobot robot; > ArSick laser; > ArSimpleConnector connection(&argc,argv); > > if(!connection.parseArgs()) > { > printf("....\n"); > Aria::exit(1); > } > > robot.addRangeDevice(&laser); > > if(!connection.connectRobot(&derRoboter)) > { > printf("....\n"); > Aria::exit(2); > } > > robot.runAsync(true); > > connection.setupLaser(&laser); > > laser.runAsync(); > > if (!laser.blockingConnect()) > { > printf("....\n"); > Aria::exit(3); > } > } > > > Thanks for your help!! > _______________________________________________ > 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 Jun 3 16:33:17 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 03 Jun 2009 16:33:17 -0400 Subject: [Aria-users] Aria Camera support In-Reply-To: <1244056113.4a26ca314589b@webmail.purdue.edu> References: <1244056113.4a26ca314589b@webmail.purdue.edu> Message-ID: <4A26DE0D.2070300@mobilerobots.com> Hi Seraj, The ArCameraCommands strings are for use with ArNetworking. The ArNetworking packet format for getPicture1 and getVideo are basically the same. For a program to just read video images from the framegrabber is platform specific. Are you using Linux or Windows? A few tips are here: http://robots.mobilerobots.com/wiki/Category:Video Seraj Dosenbach wrote: > Hi, > > I am conducting research at Purdue University with a P3DX robot using Aria to > control it. > > We are mounting ether a Cannon or Sony PTZ camera on our robot soon and I have > been tasked with getting the video capturing portion (among other things) to > work. > > I have searched the Aria documentation on how to perform this task but have not > been very successful in determining much from the somewhat vague descriptions. > > ArCameraCommands::GET_VIDEO is replaced by ArCameraCommands::GET_PICTURE but > there is no help on what the second is or how to use it. > > Unfortunately I do not have a camera with me to test on which is partly why I am > asking for help with not much code to show. > > I am wondering if anyone has used any of the aria camera functions lately (as it > seems some of the older functions have been deprecated) and could inform me as > to whether there is any hope. Perhaps a nudge towards the functions that would > be most beneficial would also be greatly appreciated. > > Thank you, > Seraj > > > _______________________________________________ > 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 Jun 3 17:40:58 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 03 Jun 2009 17:40:58 -0400 Subject: [Aria-users] ArRobotPacketReceiver::receivePacket: bad packet, bad checksum In-Reply-To: <4B92F0DEBBAF69418C16E70309ED46095805EB@ADM-EXCH0D.adm.c.sdu.dk> References: <4B92F0DEBBAF69418C16E70309ED46095805EB@ADM-EXCH0D.adm.c.sdu.dk> Message-ID: <4A26EDEA.5020502@mobilerobots.com> Hi Anders, What is the non-runnable state you refer to? When I've seen this message before, it was a bad hacked up serial cable, and it sounds like yours is normal. You could try out a different computer serial port if you want, that might narrow down whether it's the cable, or the computer serial port, or something else. Use the -robotPort command line option to specify the port when you run a program like demo or arnlServer, or set it in your robot's .p file. Reed Anders B?gild wrote: > Hi List > > > > Just as Suha Kaseer wrote on the 28/5 2009 (subject: p2dx > ArRobotPacketReceiver), I am also getting the > ?ArRobotPacketReceiver::receivePacket: bad packet, bad checksum? > messages. In a recent attempt to fix the problem I have upgraded the > onboard computer, that connects to the robot microcontroller via ttyS0, > to the new stable Debian/Lenny and made sure that the serial port IRQ?s > are the same in the BIOS and Linux (using setserial). Also I have tried > to reroute the serial cable inside the robot so that it doesn?t run > close to other wires, and I have checked that the shielding around the > cable was intact and correct (pin 5 and shield connected in one end to > avoid ground loops, I have been told). Still I get the bad packet messages. > > > > In the printout below it can be seen that during a ca. 30 startup and > run period of arnlServer, there is about 8 bad packet messages. The > robot runs fine on small trips, but during e.g. an 1 hour trip it will > go into a non runnable state that can only be recovered from by > disabling and re-enabling the drive system (pressing the blue button > twice). It seems that this might have something to do with the bad > packet messages. > > > > anders at seekur:~$ /usr/local/Arnl/examples/arnlServer > > Could not connect to simulator, connecting to robot through serial port > /dev/ttyS0. > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: (deleted) > > Type: Pioneer > > Subtype: seekur > > Loaded robot parameters from seekur.p > > Loaded robot parameters from (deleted).p on top of seekur.p robot parameters > > ArLaserConnector: Using robot params for connecting to laser > > ArLaserConnector: Opened serial port /dev/ttyS1 > > lms2xx_1: waiting for laser to power on. > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > lms2xx_1: Connected to the laser. > > Creating laser localization task > > ArServerBase: Started on tcp port 7272 and udp port 7272. > > MultiRobotPeer: NewFingerprint: f9bca434fe8b27f8460f3dc99213e716 > > MultiRobotPeer: Robot precedence 7516 (class 0 base 7516) > > ArConfig: Ignoring unknown section 'Localization Manager settings' > > ArConfig: Ignoring unknown section 'Sonar Localization settings' > > ArConfig: Ignoring unknown section 'GPS Localization settings' > > ArMutex::unlock: Trying to unlock a mutex ('ArMap::myMutex') which this > thread ('' 143868168 pid 1837) does not own > > Mode stop added as default mode > > Opening pose file for reading robotPose from fileName given robotPose > > Restoring pose to -9809 -1513 -178 from line -9809 -1513 -178 > > > > Loading config file params/arnl.p into ArConfig... > > Initializing log from config > > ArLog::init: StdOut Normal Not logging time Not also printing > > ArMap::processFile() robolab05.map > > ArMap::readFile() robolab05.map > > ArMapSimple::setSourceFileName((null), > /usr/local/Arnl/examples/robolab05.map) stripped base dir = robolab05.map > > Opening map file /usr/local/Arnl/examples/robolab05.map, given robolab05.map > > ArMapScan::handleNumPoints() set num points to 16494 > > Checking default on stop mode > > Activated stop mode as default > > ArMapSimple::readFile() /usr/local/Arnl/examples/robolab05.map took 53 > msecs to read map of 16494 points > > ArMapSimple::updateMapFileInfo map robolab05.map checksum = > "f383971e5de62d568364d269c6b49e56" size = 186457 time = Wed Jun 3 > 09:14:37 2009 > > ArMapSimple::operator= map robolab05.map checksum = > "f383971e5de62d568364d269c6b49e56" size = 186457 time = Wed Jun 3 > 09:14:37 2009 > > ArMap::readFile() took 4 msecs to copy loading map > > ArServerHandlerMap::mapChanged() orig = new = robolab05.map > > > > Directory for maps and file serving: /usr/local/Arnl/examples/ > > See the ARNL README.txt for more information > > > > LaserLocaLog: Start localization at -9809 -1513 -178.0 > > Could not localize robot at home (best score -1, minimum 0.2). > > Server running. To exit, press escape. > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > > > > > > > Here is a little info about the the onboard PC?s serial ports, and the > versions of the Linux kernel, gcc, Aria and Arnl running: > > > > anders at seekur:~$ ps -a > > PID TTY TIME CMD > > 1850 pts/0 00:00:00 ps > > > > anders at seekur:~$ gcc -dumpversion > > 4.3.2 > > > > anders at seekur:~$ uname -a > > Linux seekur 2.6.26-2-686 #1 SMP Mon May 11 19:00:59 UTC 2009 i686 GNU/Linux > > > > anders at seekur:~$ cat /usr/local/Aria/version.txt > > ARIA Version 2.7.0 > > April 14, 2009 > > MobileRobots Inc. > > > > anders at seekur:~$ cat /usr/local/Arnl/ARNL-version.txt > > ARNL Version 1.7.0 > > April 21, 2009 > > gcc-4.1.2 > > MobileRobots Inc. > > > > anders at seekur:~$ setserial /dev/ttyS0 > > /dev/ttyS0, UART: 16550A, Port: 0x03f8, IRQ: 11 > > anders at seekur:~$ setserial /dev/ttyS1 > > /dev/ttyS1, UART: 16550A, Port: 0x02f8, IRQ: 10 > > anders at seekur:~$ setserial /dev/ttyS2 > > /dev/ttyS2, UART: 16550A, Port: 0x03e8, IRQ: 3 > > anders at seekur:~$ setserial /dev/ttyS3 > > /dev/ttyS3, UART: 16550A, Port: 0x02e8, IRQ: 4 > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 kdosenba at purdue.edu Wed Jun 3 17:42:26 2009 From: kdosenba at purdue.edu (Seraj Dosenbach) Date: Wed, 3 Jun 2009 17:42:26 -0400 Subject: [Aria-users] Aria Camera support In-Reply-To: <4A26DE0D.2070300@mobilerobots.com> References: <1244056113.4a26ca314589b@webmail.purdue.edu> <4A26DE0D.2070300@mobilerobots.com> Message-ID: <1244065346.4a26ee42b58bb@webmail.purdue.edu> Using windows. Thanks for the help, if I get lost again I will holler. Seraj Quoting Reed Hedges : > > Hi Seraj, > > The ArCameraCommands strings are for use with ArNetworking. The ArNetworking > > packet format for getPicture1 and getVideo are basically the same. > > For a program to just read video images from the framegrabber is platform > specific. Are you using Linux or Windows? A few tips are here: > > http://robots.mobilerobots.com/wiki/Category:Video > > > > Seraj Dosenbach wrote: > > Hi, > > > > I am conducting research at Purdue University with a P3DX robot using Aria > to > > control it. > > > > We are mounting ether a Cannon or Sony PTZ camera on our robot soon and I > have > > been tasked with getting the video capturing portion (among other things) > to > > work. > > > > I have searched the Aria documentation on how to perform this task but have > not > > been very successful in determining much from the somewhat vague > descriptions. > > > > ArCameraCommands::GET_VIDEO is replaced by ArCameraCommands::GET_PICTURE > but > > there is no help on what the second is or how to use it. > > > > Unfortunately I do not have a camera with me to test on which is partly why > I am > > asking for help with not much code to show. > > > > I am wondering if anyone has used any of the aria camera functions lately > (as it > > seems some of the older functions have been deprecated) and could inform me > as > > to whether there is any hope. Perhaps a nudge towards the functions that > would > > be most beneficial would also be greatly appreciated. > > > > Thank you, > > Seraj > > > > > > _______________________________________________ > > 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. > From khoanqv at yahoo.com.vn Mon Jun 8 08:42:49 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Mon, 8 Jun 2009 20:42:49 +0800 (SGT) Subject: [Aria-users] usb Message-ID: <525172.65236.qm@web76016.mail.sg1.yahoo.com> Hi everyone, I have tried to mount my usb to robot's onboard computer (Debian operation). I typed: ?mount /dev/sda1 /mnt/usb (I already make the folder /mnt/usb) And there are an annoucement :"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" Could you give me some advices? Thank a lot Nhanh h?n, T?t h?n, G?n h?n - Yahoo! Mail: Nay kh?ng c?n qu?ng c?o. Tr?i nghi?m ngay! http://vn.mail.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090608/49fa56d5/attachment-0001.html From federico.tibaldi at polito.it Mon Jun 8 09:11:07 2009 From: federico.tibaldi at polito.it (Federico Tibaldi) Date: Mon, 08 Jun 2009 15:11:07 +0200 Subject: [Aria-users] usb In-Reply-To: <525172.65236.qm@web76016.mail.sg1.yahoo.com> References: <525172.65236.qm@web76016.mail.sg1.yahoo.com> Message-ID: <4A2D0DEB.9090901@polito.it> Hi, if your "usb" is a memory device, maybe you have to specify the file system with the -t option. Anyway, you should see the man page of mount. For fat32 file system, the command is "mount -t vfat /dev/sdb... /mountPoint" Fede le duy khoa wrote: > > Hi everyone, > I have tried to mount my usb to robot's onboard computer (Debian > operation). I typed: > mount /dev/sda1 /mnt/usb > (I already make the folder /mnt/usb) > And there are an annoucement :"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" > Could you give me some advices? > Thank a lot > > > ------------------------------------------------------------------------ > Yahoo! Mail nay Nhanh h?n v? G?n h?n. Tr?i nghi?m ngay! > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 j.stopak at gmail.com Mon Jun 8 13:31:19 2009 From: j.stopak at gmail.com (Jack Stopak) Date: Mon, 8 Jun 2009 13:31:19 -0400 Subject: [Aria-users] Pioneer 3-AT savServer Message-ID: <167aa7a10906081031x7edff1cdj116089ccb531042@mail.gmail.com> Hey everyone, I'm trying to stream video from a Pioneer 3-AT MobileRobot using the pre-installed savServer - savClient combination. I don't have a problem starting a server on the robot's onboard computer (by connecting through SSH and running savServer on the robot's machine), but I keep failing to establish a connection by running savClient from a separate machine. IHere is a typical rundown of my actions and results: Step 1) Go into the SAV directory on the robot's computer: [~]# cd /usr/local/SAV Step 2) Run the 'savServer' program: [/usr/local/SAV]# savServer ArNetServer started on tcp port 7070 and udp port 7070. Opened framegrabber ############ Failed to open audio: No such device Step 3) Run the 'savClient' program from another computer: Client connected from 192.168.1.102. Failed on read TCP, error 104 Failed on the tcp read The usual error is the "Failed on read TCP." Actually it has worked once, seemingly randomly. However, I didn't note anything that I did special that time. Is there any way to specify what port to look for using savClient? Also, on a separate but related note, is it possible to run savClient in Ubuntu linux as opposed to Red Hat? Thanks a lot, -- Jack Stopak -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090608/e8e10309/attachment.html From iamkyunh at gmail.com Tue Jun 9 05:43:18 2009 From: iamkyunh at gmail.com (july moe) Date: Tue, 9 Jun 2009 18:43:18 +0900 Subject: [Aria-users] Aria-users Digest, Vol 13, Issue 7 In-Reply-To: References: Message-ID: <122e5e7d0906090243t657824bct58d40ed90252bf13@mail.gmail.com> Hello Reed, Thanks a lot. The camera I just wanna use is Canon VC-C50. I tried ARIA's demo program to test the camera. It worked correctly. Yes. As you said I wanna know how can the video images be got from the camera. R'gds, Julymoe On Mon, Jun 1, 2009 at 3:47 AM, wrote: > Send Aria-users mailing list submissions to > aria-users at lists.mobilerobots.com > > To subscribe or unsubscribe via the World Wide Web, visit > http://lists.mobilerobots.com/mailman/listinfo/aria-users > or, via email, send a message with subject or body 'help' to > aria-users-request at lists.mobilerobots.com > > You can reach the person managing the list at > aria-users-owner at lists.mobilerobots.com > > When replying, please edit your Subject line so it is more specific > than "Re: Contents of Aria-users digest..." > > > Today's Topics: > > 1. Re: Difference between setTransAccel() setTransDecel() > (Reed Hedges) > 2. Re: PTZ camera (Reed Hedges) > 3. Re: p2dx ArRobotPacketReceiver (Reed Hedges) > 4. Visual servoing (Irina Madalina) > > > ---------------------------------------------------------------------- > > Message: 1 > Date: Fri, 29 May 2009 13:43:18 -0400 > From: Reed Hedges > Subject: Re: [Aria-users] Difference between setTransAccel() > setTransDecel() > Cc: aria-users at lists.mobilerobots.com > Message-ID: <4A201EB6.3020303 at mobilerobots.com> > Content-Type: text/plain; charset=UTF-8; format=flowed > > Xionghui Lu wrote: > > One is for setting speed increasing speed and the other is for speed > > decreasing rate? Am I correct? But I noticed that robot also sticks to > > value I set in setTransAccel() when it slows down. for example if I > > setTransAccel(50)m, I saw that robot slows down with deceleration 50. > > Setting TransAccel should only affect acceleration not deceleration. Are > you > also setting deceleration with setTransDecel() to some other value? What > specific model of robot are you using? > > For most robots, the default value of TransDecel is 300 or so, but this can > be > changed in the firmware (ARCOS) configuration, or in the robot parameter > file > used by ARIA (if TransDecel is set there, it will be set after connecting > to the > robot). > > Reed > > > > > ------------------------------ > > Message: 2 > Date: Fri, 29 May 2009 13:45:48 -0400 > From: Reed Hedges > Subject: Re: [Aria-users] PTZ camera > Cc: aria-users at lists.mobilerobots.com > Message-ID: <4A201F4C.4060203 at mobilerobots.com> > Content-Type: text/plain; charset=UTF-8; format=flowed > > july moe wrote: > > Hi all, > > > > At the present time, I am using P3 AT and ARIA 2.5. > > I would like to use PTZ camera with my P3 AT. > > Anyone can help me where can I get the software to use camera and what > > are needed? > > Hello, > > You can control the pan, tilt and zoom functions of the Canon VC-C4 and > VC-C5 > cameras using the ArVCC4 class in ARIA. ARIA also supports a few other > cameras > as well, such as an older Sony camera that we used to sell. > > What kind of PTZ camera do you have? > > You can test out a Canon or Sony PTZ using ARIA's 'demo' program (you will > need > to know what kind of camera and how it is connected-- most are connected > via the > robot aux port but some may be different.) > > Getting video images from the camera is separate from PTZ control; if you > are > asking about that instead, please clarify. > > Reed > > > > > ------------------------------ > > Message: 3 > Date: Fri, 29 May 2009 13:50:17 -0400 > From: Reed Hedges > Subject: Re: [Aria-users] p2dx ArRobotPacketReceiver > Cc: aria-users at lists.mobilerobots.com > Message-ID: <4A202059.5080406 at mobilerobots.com> > Content-Type: text/plain; charset=UTF-8; format=flowed > > > If you only get this message once or occasionally, then it's probably OK. > If it > happens continuously, there is likely a problem with the cabling or the > serial > port itself, or with the serial port configuration or driver in the > computer OS. > (One common problem is that the serial port shares an IRQ channel with > another > device.) > > So the bad checksum warning may or may not be indicitive of why that > actionExample loses the connection and exits. > > When the actionExample disconnects, does the robot microcontroller make any > indication that it was somehow reset (through a beep)? Do other programs > work? > What version of ARIA are you using? Are you on Windows or Linux? What > other > software is running at the same time as actionExample? > > Thanks > > Reed > > > Suha Kaseer wrote: > > Hello all Aria users.. > > > > I know my problem is not new as I found some thing similar to my > situation on Date: Tue, 5 Sep 2006 23:26:14 -0400, under the Subject: > [Aria-users] ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > after release build? > > > > Mr. Matt gave a solution, so I did exactly what Mr. Matt LaFary recommand > Eric.. but it still doesn't work with me!! I'm using a p2dx robot and using > the serialConnection to connect to the robot. The problem is whenever I try > to connect to the robot, I get a bunch of > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum errors. > > > > Finally, I decided to run one of the Aria example "actionExample.cpp", I > got the following: > > > > Syncing 0 > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > No packet. > > Syncing 0 > > Attempting to correct syncCount > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: Guelph_1691 > > Type: Pioneer > > Subtype: p2d8 > > Loaded robot parameters from p2d8.p > > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum > > Losing connection because robot was reset. > > Lost connection to the robot because of error. > > Exiting robot run because of lost connection. > > Press any key to continue > > > > > > Please help me... any help would be very appriciated > > S. Kaseer > > _______________________________________________ > > 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 > > > > > > ------------------------------ > > Message: 4 > Date: Sun, 31 May 2009 11:47:36 -0700 (PDT) > From: Irina Madalina > Subject: [Aria-users] Visual servoing > To: aria-users at lists.mobilerobots.com > Message-ID: <658100.15861.qm at web52503.mail.re2.yahoo.com> > Content-Type: text/plain; charset="us-ascii" > > > > > Hy! > > I'm trying to control PeopleBot, from Active Media using Matlab. So, i > have written a code in Matlab, but I don't now how to send to the robot > the parametres for its control. I have read something about mex file, > or to compile my code in C++ and then send it to the robot trough ARIA, > but i hope it will be an easy way to control the robot only using > Matlab. > > Could you help me with some tutorials or some examples? > > I have to add that I'm using Image processing in Matlab and the name of my > paper is : "Trajectory following using a camera " > Thank you! > > > > -------------- next part -------------- > An HTML attachment was scrubbed... > URL: > http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090531/c27a9eef/attachment.html > -------------- next part -------------- > A non-text attachment was scrubbed... > Name: not available > Type: image/gif > Size: 21362 bytes > Desc: not available > Url : > http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090531/c27a9eef/attachment.gif > > ------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > End of Aria-users Digest, Vol 13, Issue 7 > ***************************************** > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090609/630c3fb8/attachment.html From reed at mobilerobots.com Tue Jun 9 12:02:28 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 09 Jun 2009 12:02:28 -0400 Subject: [Aria-users] usb In-Reply-To: <525172.65236.qm@web76016.mail.sg1.yahoo.com> References: <525172.65236.qm@web76016.mail.sg1.yahoo.com> Message-ID: <1244563348.3234.1.camel@ixion> Hello, What is the output of the command: dmesg | tail ? It may show more error messages. 'dmesg' will also log the device name Linux is using for the USB device when plugged in, check that it is /dev/sda1 and not something else. On Mon, 2009-06-08 at 20:42 +0800, le duy khoa wrote: > Hi everyone, > I have tried to mount my usb to robot's onboard computer (Debian > operation). I typed: > mount /dev/sda1 /mnt/usb > (I already make the folder /mnt/usb) > And there are an annoucement :"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" > Could you give me some advices? > Thank a lot > > > From reed at mobilerobots.com Tue Jun 9 12:19:44 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 09 Jun 2009 12:19:44 -0400 Subject: [Aria-users] Pioneer 3-AT savServer In-Reply-To: <167aa7a10906081031x7edff1cdj116089ccb531042@mail.gmail.com> References: <167aa7a10906081031x7edff1cdj116089ccb531042@mail.gmail.com> Message-ID: <1244564384.3234.3.camel@ixion> Hello, savServer is using port 7070. You can try another client, such as MobileEyes (append :7070 to server name). Are the robot and your computer running the client on the same network? Could there be a firewall or router rule that it preventing it from working? Does savClient work if you run it on the robot, using localhost as the server name? Reed On Mon, 2009-06-08 at 13:31 -0400, Jack Stopak wrote: > Hey everyone, > > > I'm trying to stream video from a Pioneer 3-AT MobileRobot using the > pre-installed savServer - savClient combination. I don't have a > problem starting a server on the robot's onboard computer (by > connecting through SSH and running savServer on the robot's machine), > but I keep failing to establish a connection by running savClient from > a separate machine. IHere is a typical rundown of my actions and > results: > > > Step 1) Go into the SAV directory on the robot's computer: > [~]# cd /usr/local/SAV > > > Step 2) Run the 'savServer' program: > [/usr/local/SAV]# savServer > ArNetServer started on tcp port 7070 and udp port 7070. > > Opened framegrabber > ############ Failed to open audio: No such device > > > Step 3) Run the 'savClient' program from another computer: > Client connected from 192.168.1.102. > Failed on read TCP, error 104 > Failed on the tcp read > > > > > The usual error is the "Failed on read TCP." Actually it has worked > once, seemingly randomly. However, I didn't note anything that I did > special that time. Is there any way to specify what port to look for > using savClient? Also, on a separate but related note, is it possible > to run savClient in Ubuntu linux as opposed to Red Hat? > > > Thanks a lot, > > -- > Jack Stopak > > _______________________________________________ > 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 kdosenba at purdue.edu Wed Jun 10 09:50:09 2009 From: kdosenba at purdue.edu (Seraj Dosenbach) Date: Wed, 10 Jun 2009 09:50:09 -0400 Subject: [Aria-users] Aria and C# Message-ID: <1244641809.4a2fba11254de@webmail.purdue.edu> Hi List, I was wondering if any one has used Aria through C#. I know that you can use PInvoke to run C++ functions in C#, but I was wondering if any one had tried it with Aria, and could tell me if it worked? Does any one know of any other way of running Aria through C#? What about the use of the SWIG automation tool to generate a wrapper for Aria in C#? Any thoughts and comments or help would be greatly appreciated. Seraj From ericavery at epix.net Thu Jun 11 10:30:29 2009 From: ericavery at epix.net (ericavery at epix.net) Date: Thu, 11 Jun 2009 14:30:29 +0000 (UTC) Subject: [Aria-users] Aria and C# In-Reply-To: <804183204.1917981244730465522.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Message-ID: <167775887.1918551244730629380.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Seraj, I have done allot of work with Aria and managed c++ but not much in c#. There are three main ways that you can use Aria in .net managed languages. 1. Write a managed wrapper class or classes in mixed mode (managed and unmanaged) c++ that can be directly used in the c# code. 2. Use PInvoke to import the functions from the Aria dlls, as you suggested. 3. Forgo using c# all together and write your application in mixed mode c++ (i.e. use the /clr compiler option instead of /strict). I have chosen the third option because it is the most flexible and you don?t have to rewrite the Aria classes in a managed wrapper or mess with tons of PInvoke code. If you are using Visual Studio 2008 mixed mode c++ is fairly seamless, in previous versions it required a few compiler and linker configuration changes. There are some gotchas with mixed mode applications; however, they are fairly well documented if you dig deep enough. Hope this helps. Eric Avery ----- Original Message ----- From: "Seraj Dosenbach" To: "discussion and announcements for MobileRobots' Advanced Robot Interface for Applications Help (ARIA)" Sent: Wednesday, June 10, 2009 9:50:09 AM GMT -05:00 US/Canada Eastern Subject: [Aria-users] Aria and C# Hi List, I was wondering if any one has used Aria through C#. I know that you can use PInvoke to run C++ functions in C#, but I was wondering if any one had tried it with Aria, and could tell me if it worked? Does any one know of any other way of running Aria through C#? What about the use of the SWIG automation tool to generate a wrapper for Aria in C#? Any thoughts and comments or help would be greatly appreciated. Seraj _______________________________________________ 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 msmith11 at ithaca.edu Thu Jun 11 10:42:16 2009 From: msmith11 at ithaca.edu (Madeline Smith) Date: Thu, 11 Jun 2009 10:42:16 -0400 Subject: [Aria-users] Using multiple joysticks Message-ID: <4A3117C8.40608@ithaca.edu> We are attempting to use multiple USB joysticks with our Pioneer 3-DX and ARIA. Is it possible for the software to recognize two joysticks and treat them separately. We are looking to use one joystick to drive the robot with another as an overriding controller. Thanks! -Madeline From kdosenba at purdue.edu Thu Jun 11 15:33:10 2009 From: kdosenba at purdue.edu (Seraj Dosenbach) Date: Thu, 11 Jun 2009 15:33:10 -0400 Subject: [Aria-users] Aria and C# In-Reply-To: <167775887.1918551244730629380.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> References: <167775887.1918551244730629380.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Message-ID: <1244748790.4a315bf6b5e31@webmail.purdue.edu> Eric, Thanks for the options, and I would normally agree with you that perhaps option 3 is a good way to go, however, for our application C++ is far more difficult than if we use C#. A little background into what we intend to do. We have several Mobile P3DX robots and several other iCreate robots. Our assignment is to build a system in which both robots can be controlled and operated from a single source as well as simply running them autonomously, not to mention all the robots must be interconnected in an ad hoc network. Since the iCreate robots do not use Aria we are going to let each of the robot, either iCreate or P3DX, run its own software in whatever language (Aria(C++) for the P3DX). Then we are going to write a C# networking application to sit on top of the native code to act as conduit between the different robots and other users in the ad hoc network. If all of that did not make sense then sorry, but the reason we would like to use C# is because it makes the level of networking needed for this project much easier than if it were coded in C++. And that is why I wanted to see if anyone else has tried to run Aria through C#. Therefore, I think I am going to try option 1 or 2 unless anyone else has a better option. Thanks, Seraj Quoting ericavery at epix.net: > Seraj, > > I have done allot of work with Aria and managed c++ but not much in c#. There > are three main ways that you can use Aria in .net managed languages. > > 1. Write a managed wrapper class or classes in mixed mode (managed and > unmanaged) c++ that can be directly used in the c# code. > 2. Use PInvoke to import the functions from the Aria dlls, as you suggested. > 3. Forgo using c# all together and write your application in mixed mode c++ > (i.e. use the /clr compiler option instead of /strict). > > I have chosen the third option because it is the most flexible and you > don???t have to rewrite the Aria classes in a managed wrapper or mess with > tons of PInvoke code. If you are using Visual Studio 2008 mixed mode c++ is > fairly seamless, in previous versions it required a few compiler and linker > configuration changes. There are some gotchas with mixed mode applications; > however, they are fairly well documented if you dig deep enough. > > Hope this helps. > Eric Avery > > ----- Original Message ----- > From: "Seraj Dosenbach" > To: "discussion and announcements for MobileRobots' Advanced Robot Interface > for Applications Help (ARIA)" > Sent: Wednesday, June 10, 2009 9:50:09 AM GMT -05:00 US/Canada Eastern > Subject: [Aria-users] Aria and C# > > Hi List, > > I was wondering if any one has used Aria through C#. > > I know that you can use PInvoke to run C++ functions in C#, but I was > wondering if > any one had tried it with Aria, and could tell me if it worked? > > Does any one know of any other way of running Aria through C#? > > What about the use of the SWIG automation tool to generate a wrapper for Aria > in > C#? > > Any thoughts and comments or help would be greatly appreciated. > > Seraj > _______________________________________________ > 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. > From ericavery at epix.net Thu Jun 11 17:07:16 2009 From: ericavery at epix.net (ericavery at epix.net) Date: Thu, 11 Jun 2009 21:07:16 +0000 (UTC) Subject: [Aria-users] Aria and C# In-Reply-To: <312215053.1978251244753820886.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Message-ID: <670286945.1979451244754436281.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Seraj, Just a few things to think about. If I understand correctly you are going to make your network layer wrap the robot API's. If that?s the case, it might be easer (less code) to write the ARIA to network wrapper in mixed mode C++ and then write your GUI in C# or what ever language you want. How I understand your proposed system: Aria -> C++ (wrapper or PInvoke) -> C# -> Network -> Other Robots\GUI Without the wrapper to C# you can save a step: Aria -> Mixed mode C++ -> Network -> Other Robots\GUI Key thing to note is that managed C++, C# and VB all have virtually the same namespaces and classes available System, System.net, System.Interop and so on. With mixed mode C++ if you want to use the TCP client and server classes in the System.Net namespace or if you want to use WCF to do your networking, you can, and at the same time you can use the Aria classes. Also, any managed language can reference managed assemblies written in any other managed language. The long and short of it is, no mater what you want to reference you can do it in mixed mode C++ projects. I guess the big question is why do you see C++ being far more difficult than if you use C#? Eric ----- Original Message ----- From: "Seraj Dosenbach" To: "discussion and announcements for MobileRobots' Advanced Robot Interface for Applications Help (ARIA)" Sent: Thursday, June 11, 2009 3:33:10 PM GMT -05:00 US/Canada Eastern Subject: Re: [Aria-users] Aria and C# Eric, Thanks for the options, and I would normally agree with you that perhaps option 3 is a good way to go, however, for our application C++ is far more difficult than if we use C#. A little background into what we intend to do. We have several Mobile P3DX robots and several other iCreate robots. Our assignment is to build a system in which both robots can be controlled and operated from a single source as well as simply running them autonomously, not to mention all the robots must be interconnected in an ad hoc network. Since the iCreate robots do not use Aria we are going to let each of the robot, either iCreate or P3DX, run its own software in whatever language (Aria(C++) for the P3DX). Then we are going to write a C# networking application to sit on top of the native code to act as conduit between the different robots and other users in the ad hoc network. If all of that did not make sense then sorry, but the reason we would like to use C# is because it makes the level of networking needed for this project much easier than if it were coded in C++. And that is why I wanted to see if anyone else has tried to run Aria through C#. Therefore, I think I am going to try option 1 or 2 unless anyone else has a better option. Thanks, Seraj Quoting ericavery at epix.net: > Seraj, > > I have done allot of work with Aria and managed c++ but not much in c#. There > are three main ways that you can use Aria in .net managed languages. > > 1. Write a managed wrapper class or classes in mixed mode (managed and > unmanaged) c++ that can be directly used in the c# code. > 2. Use PInvoke to import the functions from the Aria dlls, as you suggested. > 3. Forgo using c# all together and write your application in mixed mode c++ > (i.e. use the /clr compiler option instead of /strict). > > I have chosen the third option because it is the most flexible and you > don???t have to rewrite the Aria classes in a managed wrapper or mess with > tons of PInvoke code. If you are using Visual Studio 2008 mixed mode c++ is > fairly seamless, in previous versions it required a few compiler and linker > configuration changes. There are some gotchas with mixed mode applications; > however, they are fairly well documented if you dig deep enough. > > Hope this helps. > Eric Avery > > ----- Original Message ----- > From: "Seraj Dosenbach" > To: "discussion and announcements for MobileRobots' Advanced Robot Interface > for Applications Help (ARIA)" > Sent: Wednesday, June 10, 2009 9:50:09 AM GMT -05:00 US/Canada Eastern > Subject: [Aria-users] Aria and C# > > Hi List, > > I was wondering if any one has used Aria through C#. > > I know that you can use PInvoke to run C++ functions in C#, but I was > wondering if > any one had tried it with Aria, and could tell me if it worked? > > Does any one know of any other way of running Aria through C#? > > What about the use of the SWIG automation tool to generate a wrapper for Aria > in > C#? > > Any thoughts and comments or help would be greatly appreciated. > > Seraj > _______________________________________________ > 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. > _______________________________________________ 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 bit_robot at 163.com Fri Jun 12 21:39:48 2009 From: bit_robot at 163.com (bit_robot) Date: Fri, 12 Jun 2009 17:39:48 -0800 Subject: [Aria-users] pure visual function call Message-ID: <200906121739452189000@163.com> Hi there is a problem when i try to connect the robot using a function written by myself. The code is atteched below. The problem is : I always got a error 6025:" pure visual function call " at the moment the connectrobot function return. BOOL ConnectRobot() { Aria::init(); // This object parses program options from the command line ArArgumentParser parser(&argc, argv); parser.loadDefaultArguments(); ArRobotConnector robotConnector(&parser, &robot); if (!robotConnector.connectRobot()) { // Error connecting: // if the user gave the -help argumentp, then just print out what happened, // and continue so options can be displayed later. if (!parser.checkHelpAndWarnUnparsed()) { ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); } // otherwise abort else { ArLog::log(ArLog::Terse, "Error, could not connect to robot."); Aria::logOptions(); Aria::exit(1); } } // Parse the command line options. Fail and print the help message if the parsing fails // or if the help was requested with the -help option if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); exit(1); } // Start the robot task loop running in a new background thread. The 'true' argument means if it loses // connection the task loop stops and the thread exits. robot.runAsync(true); robot.comInt(ArCommands::ENABLE, 1); return true; } Note: 1. I am using the aria2.7.1 , Visual studio 2005, in windows xp 2. I set the value for them like this: argc =1; argv = path of the program. I am sure there is no problem with argc argv . 3. If I use the following method, it works fine. BOOL SimpleConectRobot() { Aria::init(); robot.addRangeDevice(&sick); ArSimpleConnector connector(&arguments); if (!connector.parseArgs() || arguments.getArgc() > 1) { connector.logOptions(); exit(1); } // try to connect, if we fail exit if (!connector.connectRobot(&robot)) { MessageBox( NULL, "failed to connect robot", NULL, MB_OK | MB_ICONERROR ); Aria::shutdown(); return FALSE; } // now that we're connected to the robot, connect to the laser connector.setupLaser(&sick); sick.runAsync(); if (!sick.blockingConnect()) { MessageBox( NULL, "failed to connect laser", NULL, MB_OK | MB_ICONERROR ); //printf("Could not connect to SICK laser... exiting\n"); Aria::shutdown(); return FALSE; } // enable the motors, disable amigobot sounds robot.comInt(ArCommands::ENABLE, 1); robot.runAsync(true); robot.setVel(-50); return TRUE; } Thank you very much! bit_robot 2009-06-12 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090612/2d6f9421/attachment-0001.html From kdosenba at purdue.edu Fri Jun 12 08:51:36 2009 From: kdosenba at purdue.edu (Seraj Dosenbach) Date: Fri, 12 Jun 2009 08:51:36 -0400 Subject: [Aria-users] Aria and C# In-Reply-To: <670286945.1979451244754436281.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> References: <670286945.1979451244754436281.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Message-ID: <1244811096.4a324f5867263@webmail.purdue.edu> Eric, I guess the reason that I think C++ is much more difficult than C# for networking is that I have much more experience in C# than with C++, plus I just personally don't like all the :: and other semantics that C++ makes you use. The other think is that I did not know the full potential of C++/CLR. I think you have convinced me to go with C++/CLR. Thank you for your insight and help, it is greatly appreciated. Seraj Quoting ericavery at epix.net: > Seraj, > > Just a few things to think about. If I understand correctly you are going to > make your network layer wrap the robot API's. If that???s the case, it might > be easer (less code) to write the ARIA to network wrapper in mixed mode C++ > and then write your GUI in C# or what ever language you want. > > How I understand your proposed system: > > Aria -> C++ (wrapper or PInvoke) -> C# -> Network -> Other Robots\GUI > > Without the wrapper to C# you can save a step: > > Aria -> Mixed mode C++ -> Network -> Other Robots\GUI > > Key thing to note is that managed C++, C# and VB all have virtually the same > namespaces and classes available System, System.net, System.Interop and so > on. With mixed mode C++ if you want to use the TCP client and server classes > in the System.Net namespace or if you want to use WCF to do your networking, > you can, and at the same time you can use the Aria classes. Also, any managed > language can reference managed assemblies written in any other managed > language. The long and short of it is, no mater what you want to reference > you can do it in mixed mode C++ projects. > > I guess the big question is why do you see C++ being far more difficult > than if you use C#? > > Eric > > ----- Original Message ----- > From: "Seraj Dosenbach" > To: "discussion and announcements for MobileRobots' Advanced Robot Interface > for Applications Help (ARIA)" > Sent: Thursday, June 11, 2009 3:33:10 PM GMT -05:00 US/Canada Eastern > Subject: Re: [Aria-users] Aria and C# > > Eric, > > Thanks for the options, and I would normally agree with you that perhaps > option > 3 is a good way to go, however, for our application C++ is far more difficult > > than if we use C#. > > A little background into what we intend to do. We have several Mobile P3DX > robots and several other iCreate robots. Our assignment is to build a system > in > which both robots can be controlled and operated from a single source as well > as > simply running them autonomously, not to mention all the robots must be > interconnected in an ad hoc network. > > Since the iCreate robots do not use Aria we are going to let each of the > robot, > either iCreate or P3DX, run its own software in whatever language (Aria(C++) > for > the P3DX). Then we are going to write a C# networking application to sit on > top > of the native code to act as conduit between the different robots and other > users in the ad hoc network. > > If all of that did not make sense then sorry, but the reason we would like to > > use C# is because it makes the level of networking needed for this project > much > easier than if it were coded in C++. And that is why I wanted to see if > anyone > else has tried to run Aria through C#. > > Therefore, I think I am going to try option 1 or 2 unless anyone else has a > better option. > > Thanks, > Seraj > > > > > Quoting ericavery at epix.net: > > > Seraj, > > > > I have done allot of work with Aria and managed c++ but not much in c#. > There > > are three main ways that you can use Aria in .net managed languages. > > > > 1. Write a managed wrapper class or classes in mixed mode (managed and > > unmanaged) c++ that can be directly used in the c# code. > > 2. Use PInvoke to import the functions from the Aria dlls, as you > suggested. > > 3. Forgo using c# all together and write your application in mixed mode c++ > > (i.e. use the /clr compiler option instead of /strict). > > > > I have chosen the third option because it is the most flexible and you > > don????????t have to rewrite the Aria classes in a managed wrapper or mess > with > > tons of PInvoke code. If you are using Visual Studio 2008 mixed mode c++ is > > fairly seamless, in previous versions it required a few compiler and linker > > configuration changes. There are some gotchas with mixed mode applications; > > however, they are fairly well documented if you dig deep enough. > > > > Hope this helps. > > Eric Avery > > > > ----- Original Message ----- > > From: "Seraj Dosenbach" > > To: "discussion and announcements for MobileRobots' Advanced Robot > Interface > > for Applications Help (ARIA)" > > Sent: Wednesday, June 10, 2009 9:50:09 AM GMT -05:00 US/Canada Eastern > > Subject: [Aria-users] Aria and C# > > > > Hi List, > > > > I was wondering if any one has used Aria through C#. > > > > I know that you can use PInvoke to run C++ functions in C#, but I was > > wondering if > > any one had tried it with Aria, and could tell me if it worked? > > > > Does any one know of any other way of running Aria through C#? > > > > What about the use of the SWIG automation tool to generate a wrapper for > Aria > > in > > C#? > > > > Any thoughts and comments or help would be greatly appreciated. > > > > Seraj > > _______________________________________________ > > 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. > > > > > _______________________________________________ > 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. > From reed at mobilerobots.com Fri Jun 12 09:40:52 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Jun 2009 09:40:52 -0400 Subject: [Aria-users] pure visual function call In-Reply-To: <200906121739452189000@163.com> References: <200906121739452189000@163.com> Message-ID: <4A325AE4.3060802@mobilerobots.com> Hello, if possible can you get a stack trace in a debugger to find out which method is the pure virtual call? However, my guess is that the problem is that the thread created by ArSick.runAsync() continues after the function returns, but all of the objects declared within the function including ArSick have been destroyed at that point. This would result in either a memory access error or bogus pure virtual method call when the thread tries to call a method on the now-destroyed ArSick object. Instead, you should keep objects such as the robotConnector, ArSick object, etc. outside of ConnectRobot() (either in the main function with pointers passed to ConnectRobot(), or globally, or as members of a class where ConnectRobot() is a method and an instance of which is kept globally or in main). In other words, the ArSick object must remain undestroyed for as long as its thread runs (which is until specifically stopped and disconnected, or until the connection to the laser is lost due to an error, or until the end of the program). Does this help? Reed bit_robot wrote: > Hi > > there is a problem when i try to connect the robot using a function > written by myself. The code is atteched below. > > The problem is : I always got a error 6025:" pure visual function call " > at the moment the connectrobot function return. > > > BOOL ConnectRobot() > { > Aria::init(); > > // This object parses program options from the command line > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobotConnector robotConnector(&parser, &robot); > if (!robotConnector.connectRobot()) > { > // Error connecting: > // if the user gave the -help argumentp, then just print out what happened, > // and continue so options can be displayed later. > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > > // Parse the command line options. Fail and print the help message if the parsing fails > // or if the help was requested with the -help option > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > // Start the robot task loop running in a new background thread. The 'true' argument means if it loses > // connection the task loop stops and the thread exits. > robot.runAsync(true); > robot.comInt(ArCommands::ENABLE, 1); > return true; > } > > Note: > > 1. I am using the aria2.7.1 , Visual studio 2005, in windows xp > > 2. I set the value for them like this: argc =1; argv = path of the > program. I am sure there is no problem with argc argv . > > 3. If I use the following method, it works fine. > > BOOL SimpleConectRobot() > { > Aria::init(); > robot.addRangeDevice(&sick); > ArSimpleConnector connector(&arguments); > if (!connector.parseArgs() || arguments.getArgc() > 1) > { > connector.logOptions(); > exit(1); > } > // try to connect, if we fail exit > if (!connector.connectRobot(&robot)) > { > MessageBox( NULL, "failed to connect robot", NULL, MB_OK | MB_ICONERROR ); > Aria::shutdown(); > return FALSE; > } > // now that we're connected to the robot, connect to the laser > connector.setupLaser(&sick); > sick.runAsync(); > if (!sick.blockingConnect()) > { > MessageBox( NULL, "failed to connect laser", NULL, MB_OK | MB_ICONERROR ); > //printf("Could not connect to SICK laser... exiting\n"); > Aria::shutdown(); > return FALSE; > } > // enable the motors, disable amigobot sounds > robot.comInt(ArCommands::ENABLE, 1); > robot.runAsync(true); > robot.setVel(-50); > return TRUE; > } > > Thank you very much! > > > > > bit_robot > 2009-06-12 From luxionghui at gmail.com Fri Jun 12 14:01:15 2009 From: luxionghui at gmail.com (Xionghui Lu) Date: Fri, 12 Jun 2009 14:01:15 -0400 Subject: [Aria-users] A problem with MobileSim Message-ID: <70655cbf0906121101v72c5fe17t30440e6b1d7c5d97@mail.gmail.com> I tried using "MobileSim -m columbia.map -r p3dx:robot1 --start 100,1,1.57" to launch a robot with initial position at (100,1), heading (1.57 radian). But the robot's position and direction are still 0. Is anything wrong with the command? thanks. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090612/b90ff7c0/attachment.html From reed at mobilerobots.com Fri Jun 12 14:10:57 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Jun 2009 14:10:57 -0400 Subject: [Aria-users] A problem with MobileSim In-Reply-To: <70655cbf0906121101v72c5fe17t30440e6b1d7c5d97@mail.gmail.com> References: <70655cbf0906121101v72c5fe17t30440e6b1d7c5d97@mail.gmail.com> Message-ID: <4A329A31.5020000@mobilerobots.com> Xionghui Lu wrote: > I tried using "MobileSim -m columbia.map -r p3dx:robot1 --start > 100,1,1.57" to launch a robot with initial position at (100,1), heading > (1.57 radian). Hello, the values given to --start should be in mm and degrees. See README.html or run MobileSim --help for info. Unfortunately MobileSim is still inconsistent about using millimeters, meters, degrees and radians (I hope to eventually fix that). Other than that, it should work. Note that this will set the robot's position in the simulator map, but it will still initially report 0,0,0 to ARIA or other client as its initial measured (odometer) pose. Reed From reed at mobilerobots.com Fri Jun 12 14:15:40 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Jun 2009 14:15:40 -0400 Subject: [Aria-users] Using multiple joysticks In-Reply-To: <4A3117C8.40608@ithaca.edu> References: <4A3117C8.40608@ithaca.edu> Message-ID: <4A329B4C.9080307@mobilerobots.com> Hi Madeline, Are you on Linux or Windows? ArJoyHandler always tries to open the first joystick (/dev/js0 or /dev/input/js0 on Linux, and JOYSTICKID1 on Windows, and then only tries the second if that fails (on Linux it actually tries up to 12 possible joysticks before failing). You could modify it to be able to specify which Joystick ID/index to use, then try creating two ArJoyHandler objects (you will need to change either ArJoyHandler_LIN.cpp for the Linux implementation or ArJoyHandler_WIN.cpp for the Windows implementation, or both). I am not sure the details on how to do this and have never tried it, if you try it let us know how it goes. Reed Madeline Smith wrote: > We are attempting to use multiple USB joysticks with our Pioneer 3-DX > and ARIA. Is it possible for the software to recognize two joysticks > and treat them separately. We are looking to use one joystick to drive > the robot with another as an overriding controller. > > Thanks! > -Madeline > _______________________________________________ > 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 msmith11 at ithaca.edu Fri Jun 12 15:54:53 2009 From: msmith11 at ithaca.edu (Madeline Smith) Date: Fri, 12 Jun 2009 15:54:53 -0400 Subject: [Aria-users] Using multiple joysticks In-Reply-To: <4A329B4C.9080307@mobilerobots.com> References: <4A3117C8.40608@ithaca.edu> <4A329B4C.9080307@mobilerobots.com> Message-ID: <4A32B28D.6050202@ithaca.edu> An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090612/520474d9/attachment.html From khoanqv at yahoo.com.vn Mon Jun 15 07:52:59 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Mon, 15 Jun 2009 19:52:59 +0800 (SGT) Subject: [Aria-users] camera-network Message-ID: <496556.70994.qm@web76002.mail.sg1.yahoo.com> Hi everyone, I am using P3-AT with some equipments: camera VCC4,frame grabber, onboard computer ( Debian), wireless card? I want to connect this onboard computer with my laptop through wireless network to transmit image from camera to my laptop. Then using OpenCV ( combine with ARIA) to process these images, finally send back signal to control P3-AT. Is it feasible? ?Could you give me some advices or experiences about that project? I heard that getVideoExample.cpp could get video from server (robot) and show/save it to client? Yahoo! Mail nay Nhanh h?n v? G?n h?n. Tr?i nghi?m ngay! http://vn.mail.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090615/683c6709/attachment-0001.html From msmith11 at ithaca.edu Tue Jun 16 10:15:31 2009 From: msmith11 at ithaca.edu (Madeline Smith) Date: Tue, 16 Jun 2009 10:15:31 -0400 Subject: [Aria-users] Arcos Aria Version Problems? In-Reply-To: <4A3117C8.40608@ithaca.edu> References: <4A3117C8.40608@ithaca.edu> Message-ID: <4A37A903.8040207@ithaca.edu> Hey Everyone, We are using ARIA 2.7.0 with an older version of ARCOS (perhaps 1.6, we're not sure how to tell exactly) on our P3-DX running Windows 2000. We have been having trouble using any of the get functions that give information about the robot. With getRobotLength() and getRobotWidth() we get the following error: The instruction at XXXX referenced memory at XXXX memory cannot be read. With other robot-related methods (getVel(), getX, getY, etc.) we just get junk values. Is it possible that this problem is due to an incompatibility in our arcos and aria versions? Any suggestions would be greatly appreciated! -Madeline Smith Ithaca College REU From dowlr at essex.ac.uk Thu Jun 18 10:43:59 2009 From: dowlr at essex.ac.uk (Dowling, Robin) Date: Thu, 18 Jun 2009 15:43:59 +0100 Subject: [Aria-users] Arcos Aria Version Problems? In-Reply-To: <4A37A903.8040207@ithaca.edu> References: <4A3117C8.40608@ithaca.edu> <4A37A903.8040207@ithaca.edu> Message-ID: Sorry if I am being a bit obvious here, but I have seen problems with getX Y and theta when I have used the wrong compiler, eg Visual studio 2005 with earlier versions of Aria. So are you using the correct compiler? Have you tried running your code in a simulator to see if you get the same junk values. Regards Robin Dowling Technical Support School of Computer Science and Electronic Engineering University of Essex -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Madeline Smith Sent: 16 June 2009 15:16 To: aria-users at lists.mobilerobots.com Subject: [Aria-users] Arcos Aria Version Problems? Hey Everyone, We are using ARIA 2.7.0 with an older version of ARCOS (perhaps 1.6, we're not sure how to tell exactly) on our P3-DX running Windows 2000. We have been having trouble using any of the get functions that give information about the robot. With getRobotLength() and getRobotWidth() we get the following error: The instruction at XXXX referenced memory at XXXX memory cannot be read. With other robot-related methods (getVel(), getX, getY, etc.) we just get junk values. Is it possible that this problem is due to an incompatibility in our arcos and aria versions? Any suggestions would be greatly appreciated! -Madeline Smith Ithaca College REU _______________________________________________ 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 msmith11 at ithaca.edu Fri Jun 19 11:24:03 2009 From: msmith11 at ithaca.edu (Madeline Smith) Date: Fri, 19 Jun 2009 11:24:03 -0400 Subject: [Aria-users] Arcos Aria Version Problems? In-Reply-To: References: <4A3117C8.40608@ithaca.edu> <4A37A903.8040207@ithaca.edu> Message-ID: <4A3BAD93.70904@ithaca.edu> An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090619/687961c1/attachment.html From wangyuelil2 at 163.com Sat Jun 20 09:53:10 2009 From: wangyuelil2 at 163.com (wangyuelil2) Date: Sat, 20 Jun 2009 21:53:10 +0800 (CST) Subject: [Aria-users] A question about multiple robots Message-ID: <7168059.704151245505990775.JavaMail.coremail@bj163app93.163.com> I want to realise multiple robots fomation using mobilesim and visal studio.net 2003, but i do not know how to realize it ,is there any similar source code to refer to,thank you for your help. -- ======================================================================== Elise WANG Harbin Engineering University Address: Class 3 Master 07, College of Computer Science and Technology,Harbin Engineering University,Harbin, Heilongjiang Province, China Public E-mail: wangyue at hrbeu.edu.cn Private E-mail: wangyuelil2 at 163.com Tel: +86-451-8254-5144 Mobile:137-0484-8990 ======================================================================== -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090620/778c26af/attachment.html From dowlr at essex.ac.uk Mon Jun 22 04:45:04 2009 From: dowlr at essex.ac.uk (Dowling, Robin) Date: Mon, 22 Jun 2009 09:45:04 +0100 Subject: [Aria-users] Arcos Aria Version Problems? In-Reply-To: <4A3BAD93.70904@ithaca.edu> References: <4A3117C8.40608@ithaca.edu> <4A37A903.8040207@ithaca.edu> <4A3BAD93.70904@ithaca.edu> Message-ID: Values such as RobotLength are fixed values from the Robot Parameter File, C:\Program Files\MobileRobots\Aria\params, I would also assume that X is derived using conversion factors in that same file. So I would look at the params file first, ensuring it is correct and that the correct file is being loaded. If you still feel ARCOS is a problem is there a reason for not updating? Regards Robin From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Madeline Smith Sent: 19 June 2009 16:24 To: Help,discussion and announcements for MobileRobots' Advanced Robot Interfacefor Applications (ARIA) Subject: Re: [Aria-users] Arcos Aria Version Problems? We are using Visual Studio 2005 with Aria 2.7.0. With Mobile Sim we are getting 0 values from both getRobotLength() and getX(). Is that expected? Does this indicate it may be an issue with our ARCOS version? Thanks! Madeline Smith Ithaca College, REU 2009 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090622/f8ecd821/attachment.html From g.ascolese at sssup.it Mon Jun 22 05:19:32 2009 From: g.ascolese at sssup.it (Gabriele Ascolese) Date: Mon, 22 Jun 2009 11:19:32 +0200 Subject: [Aria-users] Strange error.. Message-ID: <4A3F4CA4.3030203@sssup.it> I'm writing a simple VISUAL C++ 2008 project... Now is a simple form... #include "Aria.h" #include "ArNetworking.h" If i use....Aria.h all compiles well.... if i include ArNetworking.h I receive this error... Error 1 error LNK2019: unresolved external symbol "public: __thiscall ArClientArg::ArClientArg(bool,enum ArPriority::Priority)" (??0ArClientArg@@QAE at _NW4Priority@ArPriority@@@Z) referenced in function "public: void __thiscall ArClientArg::`default constructor closure'(void)" (??_FArClientArg@@QAEXXZ) Robotour.obj Robotour Anyone can help me ? -- Ascolese Gabriele System Administrator - Software Developer Centro Gustavo Stefanini - La Spezia Phone: +39. 0187.582110 http://www.centrogustavostefanini.it http://www.cgsrobotics.it INFORMATIVA SULLA PRIVACY Ai sensi del D.Lgs. n.196 del 30.6.2003, si precisa che le informazioni contenute in questo messaggio e nei suoi eventuali allegati sono riservate e per uso esclusivo del destinatario. Nessuno, all'infuori dello stesso, puo' copiare o distribuire il messaggio, o parte di esso, a terzi. Chiunque riceva questo messaggio per errore, e' pregato di distruggerlo e di informare il mittente. PRIVACY NOTICE According to the D.Lgs. n. 196, dated 30.6.2003, this document and its attachments are confidential and intended for the named adderessee(s) only. If you are not the intended recipient of this message, any use or dissemination of this email is prohibited. If you have received this document by mistake, please notify the sender and destroy immediately all physical and/or electronic copies. From g.ascolese at sssup.it Mon Jun 22 08:24:27 2009 From: g.ascolese at sssup.it (Gabriele Ascolese) Date: Mon, 22 Jun 2009 14:24:27 +0200 Subject: [Aria-users] including Aria in C++ .net 2008 MFC APPLICATION Message-ID: <4A3F77FB.1040506@sssup.it> I made a simple MFC Application in C++ .NET 2008 I create a little form. I want to include Aria.... I want to make a simple GUI for the Pioneer Camera so my first step is to display the camera image taken from SAV into a winform C++ image box.. Is there any docs or how to show examples, on including ARIA embedded in a C++ .net 2008 winform or MFC Application ? -- Ascolese Gabriele System Administrator - Software Developer Centro Gustavo Stefanini - La Spezia Phone: +39. 0187.582110 http://www.centrogustavostefanini.it http://www.cgsrobotics.it INFORMATIVA SULLA PRIVACY Ai sensi del D.Lgs. n.196 del 30.6.2003, si precisa che le informazioni contenute in questo messaggio e nei suoi eventuali allegati sono riservate e per uso esclusivo del destinatario. Nessuno, all'infuori dello stesso, puo' copiare o distribuire il messaggio, o parte di esso, a terzi. Chiunque riceva questo messaggio per errore, e' pregato di distruggerlo e di informare il mittente. PRIVACY NOTICE According to the D.Lgs. n. 196, dated 30.6.2003, this document and its attachments are confidential and intended for the named adderessee(s) only. If you are not the intended recipient of this message, any use or dissemination of this email is prohibited. If you have received this document by mistake, please notify the sender and destroy immediately all physical and/or electronic copies. From ranjit_ray90 at yahoo.com Wed Jun 24 01:07:58 2009 From: ranjit_ray90 at yahoo.com (Ranjit Ray) Date: Wed, 24 Jun 2009 10:37:58 +0530 (IST) Subject: [Aria-users] (no subject) Message-ID: <611086.43288.qm@web95411.mail.in2.yahoo.com> ? Dear Pioneer Member, we have puchased?five Pioneer P3-DX model, serial no GJC_3049 with?wireless serial controller and gyro correction system.?But we cannot? establish communication from remote client? Since it have no SBC, we cann't enter into?server side (Robot). We have tried through Aria. But failed. How to run the robot from remote client??Is it through aria or any other software required for that??Please reply. With regards, Ranjit Ray Robotics & Automation Division Central Mechanical Engineering Research Institute Mahatma Gandhi Avenue, Durgapur-713209 West Bengal,India Love Cricket? Check out live scores, photos, video highlights and more. Click here http://cricket.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090624/24e8722f/attachment-0001.html From reed at mobilerobots.com Thu Jun 25 09:48:36 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 09:48:36 -0400 Subject: [Aria-users] camera-network In-Reply-To: <496556.70994.qm@web76002.mail.sg1.yahoo.com> References: <496556.70994.qm@web76002.mail.sg1.yahoo.com> Message-ID: <1245937716.31273.15.camel@ixion> Yes, you can do this. You can use ArNetworking to transfer the images from the robot computer to your laptop, and also to send control commands back. See serverDemo and getVideoExample in ArNetworking examples. serverDemo is an example server; you would use a similar program on the onboard computer, but also add a handler for video requests, or use an ArHybridForwarderVideo object to forward between the client on your laptop and a separate savServer or ACTS or other video server on the robot computer. More than one client can connect to the ArNetworking server on the robot computer, so you will be able to use both MobileEyes and your video processing client at the same time. Or, you can use any other networking library or framework in a similar way if you prefer. Reed Onm Mon, 2009-06-15 at 19:52 +0800, le duy khoa wrote: > Hi everyone, > > I am using P3-AT with some equipments: camera VCC4,frame grabber, > onboard computer ( Debian), wireless card? I want to connect this > onboard computer with my laptop through wireless network to transmit > image from camera to my laptop. Then using OpenCV ( combine with ARIA) > to process these images, finally send back signal to control P3-AT. Is > it feasible? Could you give me some advices or experiences about that > project? I heard that getVideoExample.cpp could get video from server > (robot) and show/save it to client? > > > > > ______________________________________________________________________ > H? tr? T?m ki?m nay ?? c? tr?n Yahoo! Thanh c?ng c?. T?i ngay. > _______________________________________________ > 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 Jun 25 09:56:25 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 09:56:25 -0400 Subject: [Aria-users] A question about multiple robots In-Reply-To: <7168059.704151245505990775.JavaMail.coremail@bj163app93.163.com> References: <7168059.704151245505990775.JavaMail.coremail@bj163app93.163.com> Message-ID: <1245938185.31273.22.camel@ixion> Hello, You can either run multiple programs connected to MobileSim, or you can create multiple ArRobot objects in one program and connect each with separate connector objects (there is an example of this called twoRobotWander.cpp in the ARIA examples directory). To simulate multiple robots in MobileSim, open the "More Options" expander at startup, and either specify the number of robots you want (each robot will be on a different TCP port, so you will need to specify that for each client) or choose the "Create new robot for each connection" option (which will create a new robot for each client connection). There are also command line options for choosing multiple robots (give multiple -r options or give the -R option). Reed On Sat, 2009-06-20 at 21:53 +0800, wangyuelil2 wrote: > I want to realise multiple robots fomation using mobilesim and visal > studio.net 2003, but i do not know how to realize it ,is there any > similar source code to refer to,thank you for your help. > > > > -- > ======================================================================== > Elise WANG > Harbin Engineering University > Address: Class 3 Master 07, College of Computer Science and > Technology,Harbin Engineering University,Harbin, Heilongjiang > Province, China > Public E-mail: wangyue at hrbeu.edu.cn > Private E-mail: wangyuelil2 at 163.com > Tel: +86-451-8254-5144 > Mobile:137-0484-8990 > ======================================================================== > > > > ______________________________________________________________________ > 200????,????,????? > _______________________________________________ > 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 Jun 25 09:59:19 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 09:59:19 -0400 Subject: [Aria-users] Strange error.. In-Reply-To: <4A3F4CA4.3030203@sssup.it> References: <4A3F4CA4.3030203@sssup.it> Message-ID: <1245938359.31273.24.camel@ixion> > ArNetworking.h > > I receive this error... > > Error 1 error LNK2019: unresolved external symbol "public: > __thiscall ArClientArg::ArClientArg(bool,enum ArPriority::Priority)" > (??0ArClientArg@@QAE at _NW4Priority@ArPriority@@@Z) referenced in function > "public: void __thiscall ArClientArg::`default constructor > closure'(void)" (??_FArClientArg@@QAEXXZ) Robotour.obj Robotour Hi, Are you linking to ArNetworking in addition to Aria (ArNetworking.lib or ArNetworkingDebug.lib in Linker Inputs in Visual Studio)? Reed From reed at mobilerobots.com Thu Jun 25 10:08:59 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 10:08:59 -0400 Subject: [Aria-users] including Aria in C++ .net 2008 MFC APPLICATION In-Reply-To: <4A3F77FB.1040506@sssup.it> References: <4A3F77FB.1040506@sssup.it> Message-ID: <1245938939.31273.26.camel@ixion> Hi, I don't know very much about MFC, but other people on this list might. You can also search the archives. One thing to be sure of is that all Aria objects being used are kept in scope, and to be sure to access objects using threads (such as ArRobot, ArSick/ArLMS2xx) safely (use lock() and unlock() methods). Reed On Mon, 2009-06-22 at 14:24 +0200, Gabriele Ascolese wrote: > I made a simple MFC Application in C++ .NET 2008 > I create a little form. > I want to include Aria.... > I want to make a simple GUI for the Pioneer Camera so my first step is > to display the > camera image taken from SAV into a winform C++ image box.. > > Is there any docs or how to show examples, on including ARIA embedded in > a C++ .net 2008 winform or MFC Application ? > From reed at mobilerobots.com Thu Jun 25 10:17:26 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 10:17:26 -0400 Subject: [Aria-users] wireless-serial connection In-Reply-To: <611086.43288.qm@web95411.mail.in2.yahoo.com> References: <611086.43288.qm@web95411.mail.in2.yahoo.com> Message-ID: <1245939446.31273.35.camel@ixion> Hi, First you should configure the wireless-serial devices to work with your wireless network. To test it, you can use the 'ping' command. You can find more information about configuring the device in its manual and at http://robots.mobilerobots.com/wiki/Lantronix Then try connecting with ARIA's demo. Run demo from a command line with the -rh (or -remoteHost) argument specifying the IP address of the wireless-serial device. If this fails, can you copy and send the output printed by 'demo'? On Wed, 2009-06-24 at 10:37 +0530, Ranjit Ray wrote: > > Dear Pioneer Member, > we have puchased five Pioneer P3-DX model, serial no GJC_3049 > with wireless serial controller and gyro correction system. But we > cannot establish communication from remote client? Since it have no > SBC, we cann't enter into server side (Robot). We have tried through > Aria. But failed. How to run the robot from remote client? Is it > through aria or any other software required for that? Please reply. > > With regards, > > Ranjit Ray > Robotics & Automation Division > Central Mechanical Engineering Research Institute > Mahatma Gandhi Avenue, Durgapur-713209 > West Bengal,India > > > ______________________________________________________________________ > ICC World Twenty20 England '09 exclusively on YAHOO! CRICKET > _______________________________________________ > 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 Jun 25 10:19:28 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 25 Jun 2009 10:19:28 -0400 Subject: [Aria-users] Using multiple joysticks In-Reply-To: <4A32B28D.6050202@ithaca.edu> References: <4A3117C8.40608@ithaca.edu> <4A329B4C.9080307@mobilerobots.com> <4A32B28D.6050202@ithaca.edu> Message-ID: <1245939568.31273.36.camel@ixion> On Fri, 2009-06-12 at 15:54 -0400, Madeline Smith wrote: > Hi Reed, > > Thanks for your suggestion. We are using Windows. I made my own > handler for the joystick by basically copying the ArJoyHandler code. > Before even modifying this code I tried to run a single joystick with > my handler and noticed that there is a huge delay on the input from > the joystick. Do you have any idea what this delay might be? > No, sorry. How much delay do you see? How do you measure it? What kind of joystick are you using? What version of Windows is it? Thanks Reed From muratkrty at gmail.com Sun Jun 28 04:34:34 2009 From: muratkrty at gmail.com (murat krty) Date: Sun, 28 Jun 2009 09:34:34 +0100 Subject: [Aria-users] Mapper3 basic problem Message-ID: hi there out I am newbie in http://lists.mobilerobots.com and I have a prooblem with Mapper3 basic. The problem is: When I click Mapper3 (Basic Version) 2.2.5 for Windows, from http://robots.mobilerobots.com/wiki/Mapper3Basic , the authentication windows appears. Altough I entered my user name and password correctly, I got this warning message " Authorization RequiredThis server could not verify that you are authorized to access the document requested. Either you supplied the wrong credentials (e.g., bad password), or your browser doesn't understand how to supply the credentials required. " the attachement is my authentication window. Any link or comment wil be appriciated. warm regards. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090628/6ac205ab/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: mapper3basic.jpg Type: image/jpeg Size: 204938 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090628/6ac205ab/attachment-0001.jpg From salimsarimurat at gmail.com Sun Jun 28 04:46:19 2009 From: salimsarimurat at gmail.com (=?UTF-8?Q?Salim_Sar=C4=B1murat?=) Date: Sun, 28 Jun 2009 11:46:19 +0300 Subject: [Aria-users] Mapper3 basic problem Message-ID: I also have the same problem and found out nothing. On page it says "Mapper3Basic is available to all customers." but i am unable to download it. I may ask someone to download the windows (and linux may be) version of the mapper3Basic program, upload it somewhere else, and then send the link to us. It would be great. Any help is appreciated! - Salim. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090628/7b99773b/attachment.html From bit_robot at 163.com Mon Jun 29 17:09:08 2009 From: bit_robot at 163.com (bit_robot) Date: Mon, 29 Jun 2009 14:09:08 -0700 Subject: [Aria-users] pure visual function call References: <200906121739452189000@163.com> Message-ID: <200906291409053752829@163.com> Hello, Thank you very much for your last e-mail. I followed your suggestion and there is no pure visual function call problem. However, there comes a new problem when I try to get info from the robot. For example, when I use the robot.getX(), robot.getY().. or when i try to get the reading from the laser, there is alway an error like this: First-chance exception at 0x7c90e4ff: 0xC0000008: An invalid handle was specified. when the error occured, the cursor always went to the file xstring.h at the line : reverse_iterator __CLR_OR_THIS_CALL rend() { // return iterator for end of reversed mutable sequence return (reverse_iterator(begin())); } Could you kindly give me some suggestions ? Many thanks! bit_robot 2009-06-29 ???? Reed Hedges ????? 2009-06-12 06:41:08 ???? ??? aria-users ??? Re: [Aria-users] pure visual function call Hello, if possible can you get a stack trace in a debugger to find out which method is the pure virtual call? However, my guess is that the problem is that the thread created by ArSick.runAsync() continues after the function returns, but all of the objects declared within the function including ArSick have been destroyed at that point. This would result in either a memory access error or bogus pure virtual method call when the thread tries to call a method on the now-destroyed ArSick object. Instead, you should keep objects such as the robotConnector, ArSick object, etc. outside of ConnectRobot() (either in the main function with pointers passed to ConnectRobot(), or globally, or as members of a class where ConnectRobot() is a method and an instance of which is kept globally or in main). In other words, the ArSick object must remain undestroyed for as long as its thread runs (which is until specifically stopped and disconnected, or until the connection to the laser is lost due to an error, or until the end of the program). Does this help? Reed bit_robot wrote: > Hi > > there is a problem when i try to connect the robot using a function > written by myself. The code is atteched below. > > The problem is : I always got a error 6025:" pure visual function call " > at the moment the connectrobot function return. > > > BOOL ConnectRobot() > { > Aria::init(); > > // This object parses program options from the command line > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobotConnector robotConnector(&parser, &robot); > if (!robotConnector.connectRobot()) > { > // Error connecting: > // if the user gave the -help argumentp, then just print out what happened, > // and continue so options can be displayed later. > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > > // Parse the command line options. Fail and print the help message if the parsing fails > // or if the help was requested with the -help option > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > // Start the robot task loop running in a new background thread. The 'true' argument means if it loses > // connection the task loop stops and the thread exits. > robot.runAsync(true); > robot.comInt(ArCommands::ENABLE, 1); > return true; > } > > Note: > > 1. I am using the aria2.7.1 , Visual studio 2005, in windows xp > > 2. I set the value for them like this: argc =1; argv = path of the > program. I am sure there is no problem with argc argv . > > 3. If I use the following method, it works fine. > > BOOL SimpleConectRobot() > { > Aria::init(); > robot.addRangeDevice(&sick); > ArSimpleConnector connector(&arguments); > if (!connector.parseArgs() || arguments.getArgc() > 1) > { > connector.logOptions(); > exit(1); > } > // try to connect, if we fail exit > if (!connector.connectRobot(&robot)) > { > MessageBox( NULL, "failed to connect robot", NULL, MB_OK | MB_ICONERROR ); > Aria::shutdown(); > return FALSE; > } > // now that we're connected to the robot, connect to the laser > connector.setupLaser(&sick); > sick.runAsync(); > if (!sick.blockingConnect()) > { > MessageBox( NULL, "failed to connect laser", NULL, MB_OK | MB_ICONERROR ); > //printf("Could not connect to SICK laser... exiting\n"); > Aria::shutdown(); > return FALSE; > } > // enable the motors, disable amigobot sounds > robot.comInt(ArCommands::ENABLE, 1); > robot.runAsync(true); > robot.setVel(-50); > return TRUE; > } > > Thank you very much! > > > > > bit_robot > 2009-06-12 _______________________________________________ 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. __________ Information from ESET NOD32 Antivirus, version of virus signature database 4150 (20090612) __________ The message was checked by ESET NOD32 Antivirus. http://www.eset.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090629/8d130777/attachment-0001.html From wu.xiaojun at gmail.com Mon Jun 29 06:55:57 2009 From: wu.xiaojun at gmail.com (XiaoJun Wu) Date: Mon, 29 Jun 2009 18:55:57 +0800 Subject: [Aria-users] Hokuyo URG-04LX testing results, need help Message-ID: <46fe77250906290355lf4d808fife6aac641b0a66af@mail.gmail.com> I am struggling with Arnl laser mapping software in the past weeks. Recently I managed to get a Hokuyo URG-04LX which uses SCIP 1.1, and this is the testing results. Really appreciate your help on the reason why arnlServer running fails while demo and serverdemo do not. 1) Aria ./demo runs ok After switching to laser mode by pressing "l"key, such terminal output displayed: You can switch to other modes with these keys: tcm2 mode: 'm' or 'M' command mode: 'd' or 'D' acts mode: 'a' or 'A' io mode: 'i' or 'I' position mode: 'p' or 'P' bumps mode: 'b' or 'B' sonar mode: 's' or 'S' camera mode: 'c' or 'C' gripper mode: 'g' or 'G' wander mode: 'w' or 'W' unguarded teleop mode: 'u' or 'U' teleop mode: 't' or 'T' laser mode: 'l' or 'L' You are in 'laser' mode currently. Laser mode connects to a laser, or uses a previously established connection. Laser mode then displays the closest and furthest reading from the laser. 'z' or 'Z': toggle between far reading and middle reading with reflectivity 1: urg_1 Close: 350mm -71.0 deg Far: 2924mm 70.8 deg 80 readings 2) ./serverDemo program under ArNetworking also works fine, the laser readings appear in MobileEyes window ./serverDemo -rp /dev/ttyUSB0 -lp /dev/ttyACM0 -lt urg -cl Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: NSF_3432 Type: Pioneer Subtype: p3dx-sh Loaded robot parameters from p3dx-sh.p ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type ArLaserConnector: Opened serial port /dev/ttyACM0 ArServerBase: Started on tcp port 7272 and udp port 7272. Mode stop added as default mode urg_1: Connected to laser Server is now running... To exit, press escape. ArServerBase: New connection from 127.0.0.1 ArServerClient_127.0.0.1: Client connected from 127.0.0.1 3) ./arnlServer abnormally exits ./arnlServer -rp /dev/ttyUSB0 -lp /dev/ttyACM0 -lt urg -map columbia.map Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 No packet. Syncing 0 No packet. Trying to close possible old connection Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: NSF_3432 Type: Pioneer Subtype: p3dx-sh Loaded robot parameters from p3dx-sh.p ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type ArLaserConnector: Opened serial port /dev/ttyACM0 Unhandled arguments to program: -map columbia.map Program will continue but to see the help listing type './arnlServer -help' urg_1: Connected to laser Creating laser localization task ArServerBase: Started on tcp port 7272 and udp port 7272. MultiRobotPeer: NewFingerprint: d361345270f14c548b49abd1c0863e7f MultiRobotPeer: Robot precedence 8083 (class 0 base 8083) ArConfig: Ignoring unknown section 'Localization Manager settings' ArConfig: Ignoring unknown section 'Sonar Localization settings' ArConfig: Ignoring unknown section 'GPS Localization settings' ArMutex::unlock: Trying to unlock a mutex ('ArMap::myMutex') which this thread ('' 166640344 pid 4345) does not own Mode stop added as default mode Opening pose file for reading robotPose from fileName given robotPose ArPoseStorage::restorePose: Could not open file robotPose for reading Loading config file params/arnl.p into ArConfig... Initializing log from config ArLog::init: StdOut Normal Not logging time Not also printing ArMap::processFile() columbia.map ArMap::readFile() columbia.map ArMapSimple::setSourceFileName((null), /usr/local/Arnl/examples/columbia.map) stripped base dir = columbia.map Opening map file /usr/local/Arnl/examples/columbia.map, given columbia.map ArMapScan::handleNumPoints() set num points to 63311 Checking default on stop mode Activated stop mode as default ArMapSimple::readFile() /usr/local/Arnl/examples/columbia.map took 643 msecs to read map of 63311 points ArMapSimple::updateMapFileInfo map columbia.map checksum = "eae63c8a4674ef9b6a89d869c73ac945" size = 730281 time = Thu Jan 22 03:42:11 2009 ArMapSimple::operator= map columbia.map checksum = "eae63c8a4674ef9b6a89d869c73ac945" size = 730281 time = Thu Jan 22 03:42:11 2009 ArMap::readFile() took 40 msecs to copy loading map ArServerHandlerMap::mapChanged() orig = new = columbia.map Warning: Task 'Localization' took 338 ms to run (longer than the 250 warning time) Warning: ArRobot sync tasks too long at 438 ms, (100 ms normal 250 ms warning) Path planning task had UseCollisioNRangeForPlanning set to false, it needs to be true for multi robot, setting it to true Directory for maps and file serving: /usr/local/Arnl/examples/ See the ARNL README.txt for more information LaserLocaLog: Start localization at 0 0 0.0 *** glibc detected *** ./arnlServer: free(): invalid pointer: 0x09fee5e0 *** ======= Backtrace: ========= /lib/tls/i686/cmov/libc.so.6[0xb7805604] /lib/tls/i686/cmov/libc.so.6(cfree+0x96)[0xb78075b6] ./arnlServer(_ZdlPv+0x21)[0x80657e1] /usr/local/Arnl/lib/libBaseArnl.so(_ZN9__gnu_cxx13new_allocatorISt10_List_nodeI6ArPoseEE10deallocateEPS3_j+0x1d)[0xb7ef765f] /usr/local/Arnl/lib/libBaseArnl.so(_ZNSt10_List_baseI6ArPoseSaIS0_EE11_M_put_nodeEPSt10_List_nodeIS0_E+0x2e)[0xb7ef7694] /usr/local/Arnl/lib/libBaseArnl.so(_ZNSt4listI6ArPoseSaIS0_EE8_M_eraseESt14_List_iteratorIS0_E+0x6b)[0xb7f0bb7d] /usr/local/Arnl/lib/libAriaForArnl.so(_ZNSt4listI6ArPoseSaIS0_EE8pop_backEv+0x39)[0xb7bd92ab] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN15ArInterpolation10addReadingE6ArTime6ArPose+0x5b)[0xb7bd81cf] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN7ArRobot18processMotorPacketEP13ArRobotPacket+0x12d3)[0xb7c7c9ad] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN14ArRetFunctor1CIb7ArRobotP13ArRobotPacketE7invokeRES2_+0x59)[0xb7c8959b] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN7ArRobot12handlePacketEP13ArRobotPacket+0x100)[0xb7c7fdce] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN7ArRobot13packetHandlerEv+0x2cb)[0xb7c84adb] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN10ArFunctorCI7ArRobotE6invokeEv+0x53)[0xb7c894c1] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN10ArSyncTask3runEv+0x82)[0xb7cc5914] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN10ArSyncTask3runEv+0x1ae)[0xb7cc5a40] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN10ArSyncLoop9runThreadEPv+0x263)[0xb7cc4d51] /usr/local/Arnl/lib/libAriaForArnl.so(_ZN14ArRetFunctor1CIPv11ArASyncTaskS0_E7invokeREv+0x5d)[0xb7ba99cd] /usr/local/Arnl/lib/libAriaForArnl.so[0xb7ccec41] /lib/tls/i686/cmov/libpthread.so.0[0xb7a314ff] /lib/tls/i686/cmov/libc.so.6(clone+0x5e)[0xb787a49e] ======= Memory map: ======== 08048000-08070000 r-xp 00000000 08:05 1577444 /usr/local/Arnl/examples/arnlServer 08070000-08074000 rw-p 00028000 08:05 1577444 /usr/local/Arnl/examples/arnlServer 08074000-08078000 rw-p 08074000 00:00 0 09ea4000-0a24e000 rw-p 09ea4000 00:00 0 [heap] b2f00000-b2f42000 rw-p b2f00000 00:00 0 b2f42000-b3000000 ---p b2f42000 00:00 0 b3100000-b3200000 rw-p b3100000 00:00 0 b329d000-b344e000 rw-p b329d000 00:00 0 b35ff000-b3600000 ---p b35ff000 00:00 0 b3600000-b3e00000 rw-p b3600000 00:00 0 b3e00000-b3f00000 rw-p b3e00000 00:00 0 b3f81000-b3f82000 ---p b3f81000 00:00 0 b3f82000-b4782000 rw-p b3f82000 00:00 0 b4782000-b4783000 ---p b4782000 00:00 0 b4783000-b4f83000 rw-p b4783000 00:00 0 b4f83000-b4f84000 ---p b4f83000 00:00 0 b4f84000-b5784000 rw-p b4f84000 00:00 0 b5784000-b5785000 ---p b5784000 00:00 0 b5785000-b5f85000 rw-p b5785000 00:00 0 b5f85000-b5f86000 ---p b5f85000 00:00 0 b5f86000-b6786000 rw-p b5f86000 00:00 0 b6786000-b6787000 ---p b6786000 00:00 0 b6787000-b6f87000 rw-p b6787000 00:00 0 b6f87000-b6f91000 r-xp 00000000 08:05 6197 /lib/tls/i686/cmov/ libnss_files-2.9.so b6f91000-b6f92000 r--p 00009000 08:05 6197 /lib/tls/i686/cmov/ libnss_files-2.9.so b6f92000-b6f93000 rw-p 0000a000 08:05 6197 /lib/tls/i686/cmov/ libnss_files-2.9.so b6f93000-b6f94000 ---p b6f93000 00:00 0 b6f94000-b7796000 rw-p b6f94000 00:00 0 b7796000-b78f2000 r-xp 00000000 08:05 6180 /lib/tls/i686/cmov/ libc-2.9.so b78f2000-b78f3000 ---p 0015c000 08:05 6180 /lib/tls/i686/cmov/ libc-2.9.so b78f3000-b78f5000 r--p 0015c000 08:05 6180 /lib/tls/i686/cmov/ libc-2.9.so b78f5000-b78f6000 rw-p 0015e000 08:05 6180 /lib/tls/i686/cmov/ libc-2.9.so b78f6000-b78f9000 rw-p b78f6000 00:00 0 b78f9000-b7906000 r-xp 00000000 08:05 2602 /lib/libgcc_s.so.1 b7906000-b7907000 r--p 0000c000 08:05 2602 /lib/libgcc_s.so.1 b7907000-b7908000 rw-p 0000d000 08:05 2602 /lib/libgcc_s.so.1 b7908000-b792c000 r-xp 00000000 08:05 6188 /lib/tls/i686/cmov/ libm-2.9.so b792c000-b792d000 r--p 00023000 08:05 6188 /lib/tls/i686/cmov/ libm-2.9.so b792d000-b792e000 rw-p 00024000 08:05 6188 /lib/tls/i686/cmov/ libm-2.9.so b792e000-b7a12000 r-xp 00000000 08:05 10182 /usr/lib/libstdc++.so.6.0.10 b7a12000-b7a16000 r--p 000e3000 08:05 10182 /usr/lib/libstdc++.so.6.0.10 b7a16000-b7a17000 rw-p 000e7000 08:05 10182 /usr/lib/libstdc++.so.6.0.10 b7a17000-b7a1e000 rw-p b7a17000 00:00 0 b7a1e000-b7a25000 r-xp 00000000 08:05 6210 /lib/tls/i686/cmov/ librt-2.9.so b7a25000-b7a26000 r--p 00006000 08:05 6210 /lib/tls/i686/cmov/ librt-2.9.so b7a26000-b7a27000 rw-p 00007000 08:05 6210 /lib/tls/i686/cmov/ librt-2.9.so b7a27000-b7a29000 r-xp 00000000 08:05 6186 /lib/tls/i686/cmov/ libdl-2.9.so b7a29000-b7a2a000 r--p 00001000 08:05 6186 /lib/tls/i686/cmov/ libdl-2.9.so b7a2a000-b7a2b000 rw-p 00002000 08:05 6186 /lib/tls/i686/cmov/ libdl-2.9.so b7a2b000-b7a40000 r-xp 00000000 08:05 6206 /lib/tls/i686/cmov/ libpthread-2.9.so b7a40000-b7a41000 r--p 00014000 08:05 6206 /lib/tls/i686/cmov/ libpthread-2.9.so b7a41000-b7a42000 rw-p 00015000 08:05 6206 /lib/tls/i686/cmov/ libpthread-2.9.so b7a42000-b7a44000 rw-p b7a42000 00:00 0 b7a44000-b7d09000 r-xp 00000000 08:05 1577436 /usr/local/Arnl/lib/libAriaForArnl.so b7d09000-b7d1b000 rw-p 002c4000 08:05 1577436 /usr/local/Arnl/lib/libAriaForArnl.so b7d1b000-b7e7f000 r-xp 00000000 08:05 1577437 /usr/local/Arnl/lib/libArNetworkingForArnl.so b7e7f000-b7e87000 rw-p 00164000 08:05 1577437 /usr/local/Arnl/lib/libArNetworkingForArnl.so b7e87000-b7e88000 rw-p b7e87000 00:00 0 b7e88000-b7f4a000 r-xp 00000000 08:05 1577432 /usr/local/Arnl/lib/libBaseArnl.so b7f4a000-b7f4f000 rw-p 000c1000 08:05 1577432 /usr/local/Arnl/lib/libBaseArnl.so b7f4f000-b7fac000 r-xp 00000000 08:05 1577450 /usr/local/Arnl/lib/libArnl.so b7fac000-b7fae000 rw-p 0005c000 08:05 1577450 /usr/local/Arnl/lib/libArnl.so b7fae000-b7faf000 rw-p b7fae000 00:00 0 b7fc1000-b7fc4000 rw-p b7fc1000 00:00 0 b7fc4000-b7fc5000 r-xp b7fc4000 00:00 0 [vdso] b7fc5000-b7fe1000 r-xp 00000000 08:05 2560 /lib/ld-2.9.so b7fe1000-b7fe2000 r--p 0001b000 08:05 2560 /lib/ld-2.9.so b7fe2000-b7fe3000 rw-p 0001c000 08:05 2560 /lib/ld-2.9.so bfbb1000-bfbe2000 rw-p bffcf000 00:00 0 [stack] Aborted -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090629/7dee85b4/attachment.html From ranjit_ray90 at yahoo.com Mon Jun 29 08:54:18 2009 From: ranjit_ray90 at yahoo.com (Ranjit Ray) Date: Mon, 29 Jun 2009 18:24:18 +0530 (IST) Subject: [Aria-users] wireless-serial device connection error Message-ID: <796405.52274.qm@web95404.mail.in2.yahoo.com> Hi, I am trying to connect through wireless-serial device from our own program as follows: // Initialize Aria ?Aria::init(Aria::SIGHANDLE_THREAD); ? ? // add the sonar to the robot ?robot.addRangeDevice(&sonar); ? // find range device sonar ?if(robot.findRangeDevice("sonar")==NULL) ?{ ??Msg("Could not find sonars"); ??return; ?} ? //? default tcp connection ?tcpConn.setPort("192.168.1.11",8101); ? // see if we can get to the simulator? (true is success) ? if(tcpConn.openSimple()) ? {?robot.setDeviceConnection(&tcpConn);Msg("Robot connected");} ? // try to connect, if we fail exit ? if (!robot.blockingConnect()) ? { ??? Msg("Could not connect to robot... exiting"); ??? Aria::shutdown(); ??? return; ? } ? // enable the motors, disable amigobot sounds ? robot.comInt(ArCommands::ENABLE, 1); ? ? // run the robot, true here so that the run will exit if connection lost ? robot.runAsync(TRUE); ================================= The connection is fine but at the same time I am getting some MFC error (VC++6.0). I am attaching the error whatever I got while debugging the code. Please reply. Ranjit Ray Robotics & Automation Division Central Mechanical Engineering Research Institute Mahatma Gandhi Avenue, Durgapur-713209 West Bengal,India ICC World Twenty20 England '09 exclusively on YAHOO! CRICKET http://cricket.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090629/ce05845d/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: error.JPG Type: image/pjpeg Size: 12568 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090629/ce05845d/attachment-0001.bin From reed at mobilerobots.com Mon Jun 29 09:09:07 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 29 Jun 2009 09:09:07 -0400 Subject: [Aria-users] Mapper3 basic problem In-Reply-To: References: Message-ID: <4A48BCF3.5090909@mobilerobots.com> Your robot(s) came with a login and password for downloading software from the website. This is different from any login you would use to edit any wiki pages (which is what shows in the upper-right corner of the page). If you lost the document with the login and password, send an email to support at mobilerobots.com that includes a robot's serial number. Reed From reed at mobilerobots.com Mon Jun 29 09:30:43 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 29 Jun 2009 09:30:43 -0400 Subject: [Aria-users] pure visual function call In-Reply-To: <200906291409053752829@163.com> References: <200906121739452189000@163.com> <200906291409053752829@163.com> Message-ID: <4A48C203.5000907@mobilerobots.com> If you look in the stack trace pane of the debugger, I think you should be able to see what chain of function calls led to this crash. Did you modify your function to allocate the objects with new, or to allocate them in main()? Reed bit_robot wrote: > Hello, > > Thank you very much for your last e-mail. > > I followed your suggestion and there is no pure visual function call > problem. > > However, there comes a new problem when I try to get info from the > robot. For example, when I use the robot.getX(), robot.getY().. or when > i try to get the reading from the laser, there is alway an error like this: > > First-chance exception at 0x7c90e4ff: 0xC0000008: An invalid handle was specified. > > > when the error occured, the cursor always went to the file *xstring*.h > at the line : > > reverse_iterator __CLR_OR_THIS_CALL rend() > { // return iterator for end of reversed mutable sequence > return (reverse_iterator(begin())); > } > > Could you kindly give me some suggestions ? Many thanks! > > > ------------------------------------------------------------------------ > bit_robot > 2009-06-29 > ------------------------------------------------------------------------ > *????* Reed Hedges > *?????* 2009-06-12 06:41:08 > *????* > *???* aria-users > *???* Re: [Aria-users] pure visual function call > > Hello, if possible can you get a stack trace in a debugger to find out which > method is the pure virtual call? > However, my guess is that the problem is that the thread created by > ArSick.runAsync() continues after the function returns, but all of the objects > declared within the function including ArSick have been destroyed at that point. > This would result in either a memory access error or bogus pure virtual method > call when the thread tries to call a method on the now-destroyed ArSick object. > Instead, you should keep objects such as the robotConnector, ArSick object, etc. > outside of ConnectRobot() (either in the main function with pointers passed to > ConnectRobot(), or globally, or as members of a class where ConnectRobot() is a > method and an instance of which is kept globally or in main). In other words, > the ArSick object must remain undestroyed for as long as its thread runs (which > is until specifically stopped and disconnected, or until the connection to the > laser is lost due to an error, or until the end of the program). > Does this help? > Reed > bit_robot wrote: > > Hi > > > > there is a problem when i try to connect the robot using a function > > written by myself. The code is atteched below. > > > > The problem is : I always got a error 6025:" pure visual function call " > > at the moment the connectrobot function return. > > > > > > BOOL ConnectRobot() > > { > > Aria::init(); > > > > // This object parses program options from the command line > > ArArgumentParser parser(&argc, argv); > > parser.loadDefaultArguments(); > > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot()) > > { > > // Error connecting: > > // if the user gave the -help argumentp, then just print out what happened, > > // and continue so options can be displayed later. > > if (!parser.checkHelpAndWarnUnparsed()) > > { > > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); > > } > > // otherwise abort > > else > > { > > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > > Aria::logOptions(); > > Aria::exit(1); > > } > > } > > > > > > // Parse the command line options. Fail and print the help message if the parsing fails > > // or if the help was requested with the -help option > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > > { > > Aria::logOptions(); > > exit(1); > > } > > // Start the robot task loop running in a new background thread. The 'true' argument means if it loses > > // connection the task loop stops and the thread exits. > > robot.runAsync(true); > > robot.comInt(ArCommands::ENABLE, 1); > > return true; > > } > > > > Note: > > > > 1. I am using the aria2.7.1 , Visual studio 2005, in windows xp > > > > 2. I set the value for them like this: argc =1; argv = path of the > > program. I am sure there is no problem with argc argv . > > > > 3. If I use the following method, it works fine. > > > > BOOL SimpleConectRobot() > > { > > Aria::init(); > > robot.addRangeDevice(&sick); > > ArSimpleConnector connector(&arguments); > > if (!connector.parseArgs() || arguments.getArgc() > 1) > > { > > connector.logOptions(); > > exit(1); > > } > > // try to connect, if we fail exit > > if (!connector.connectRobot(&robot)) > > { > > MessageBox( NULL, "failed to connect robot", NULL, MB_OK | MB_ICONERROR ); > > Aria::shutdown(); > > return FALSE; > > } > > // now that we're connected to the robot, connect to the laser > > connector.setupLaser(&sick); > > sick.runAsync(); > > if (!sick.blockingConnect()) > > { > > MessageBox( NULL, "failed to connect laser", NULL, MB_OK | MB_ICONERROR ); > > //printf("Could not connect to SICK laser... exiting\n"); > > Aria::shutdown(); > > return FALSE; > > } > > // enable the motors, disable amigobot sounds > > robot.comInt(ArCommands::ENABLE, 1); > > robot.runAsync(true); > > robot.setVel(-50); > > return TRUE; > > } > > > > Thank you very much! > > > > > > > > > > bit_robot > > 2009-06-12 > _______________________________________________ > 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. > __________ Information from ESET NOD32 Antivirus, version of virus signature database 4150 (20090612) __________ > The message was checked by ESET NOD32 Antivirus. > 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 wangyuelil2 at 163.com Mon Jun 29 22:03:27 2009 From: wangyuelil2 at 163.com (wangyuelil2) Date: Tue, 30 Jun 2009 10:03:27 +0800 (CST) Subject: [Aria-users] broadcast communication among multiple robots Message-ID: <15384751.754771246327407114.JavaMail.coremail@bj163app126.163.com> Hello, I have realized multiple robots using mobilesim,thank you for your help.But now i have another question.I want to realize broadcast communication among multiple robots with time delay,What should I do? Could you give me some advise? I really appreciate it if there is any similar source codes.Thank you for your help. -- ======================================================================== Elise WANG Harbin Engineering University Address: Class 3 Master 07, College of Computer Science and Technology,Harbin Engineering University,Harbin, Heilongjiang Province, China Public E-mail: wangyue at hrbeu.edu.cn Private E-mail: wangyuelil2 at 163.com Tel: +86-451-8254-5144 Mobile:137-0484-8990 ======================================================================== -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090630/1ee132ae/attachment.html From wu.xiaojun at gmail.com Tue Jun 30 04:12:59 2009 From: wu.xiaojun at gmail.com (XiaoJun Wu) Date: Tue, 30 Jun 2009 16:12:59 +0800 Subject: [Aria-users] Hokuyo URG-04LX testing results, need help In-Reply-To: <46fe77250906290355lf4d808fife6aac641b0a66af@mail.gmail.com> References: <46fe77250906290355lf4d808fife6aac641b0a66af@mail.gmail.com> Message-ID: <46fe77250906300112l76bb528amab41e886f59b2dfd@mail.gmail.com> reason found. Previously I was using base-Arnl and Arnl installation for Debian 3 release with GCC 3.4; after uninstalling them and reinstall these two packages for Debian 4.1 (etch) with GCC 4 (refer to page http://robots.mobilerobots.com/wiki/ARNL%2C_SONARNL_and_MOGS), the error disappears and I am now using mobileeye to create map without issue. cheers xiaojun -------------- next part -------------- An HTML attachment was scrubbed... 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