From lafary at mobilerobots.com Wed Sep 2 10:59:29 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Wed, 02 Sep 2009 10:59:29 -0400 Subject: [Aria-users] Canon camera VC-C50i and openCV In-Reply-To: References: Message-ID: <4A9E8851.2080809@mobilerobots.com> Did you try just using NTSC with OpenCV? I don't think SAV does PAL, and I think we've only sold NTSC cameras for a long time. The image also looks to me like images that are the wrong size wind up looking. SAV by default uses 320x240, though you can also use 640x480, 160x120, or 80x60. You should make sure you're using one of those sizes for your image in OpenCV. Matt LaFary MobileRobots Inc And C. E. wrote: > Hi, I have a Canon camera VC-C50i and my problem is when working with > opencv the camera shows a distorted image, instead of a normal image, > the camera works well with program SAV, but the problem is when I try to > obtain the image with opencv, it gets a wrong image, I already red the > aria section "Using OpenCV with Aria" and recompiled opencv many times > with the changes in: #define CHANNEL_NUMBER 1 and > selectedChannel.norm = VIDEO_MODE_NTSC; for this: > > > 1) #define CHANNEL_NUMBER 1 and selectedChannel.norm = VIDEO_MODE_PAL; > 2) #define CHANNEL_NUMBER 0 and selectedChannel.norm = VIDEO_MODE_PAL; > > this changes where in the file "cvcap_v4l.cpp" , and the code where I > change the channel norm was: > > { > > if(capture->capability.channels>0) { > > struct video_channel selectedChannel; > > selectedChannel.channel=CHANNEL_NUMBER; > if (ioctl(capture->deviceHandle, VIDIOCGCHAN , &selectedChannel) > != -1) { > /* set the video mode to ( VIDEO_MODE_PAL, VIDEO_MODE_NTSC, > VIDEO_MODE_SECAM) */ > selectedChannel.norm = > VIDEO_MODE_NTSC; > /********* here was the change ************/ > if (ioctl(capture->deviceHandle, VIDIOCSCHAN , > &selectedChannel) == -1) { > /* Could not set selected channel - Oh well */ > //printf("\n%d, %s not NTSC > capable.\n",selectedChannel.channel, selectedChannel.name); > } /* End if */ > } /* End if */ > } /* End if */ > > } > > so the image get it from opencv was not good in both cases, this is the > code that I used for get it the images from the canon camera: > > #include > #include > > int main(){ > CvCapture* camaraWeb = cvCaptureFromCAM(-1); > IplImage* img = NULL; > > if (camaraWeb == NULL){ > fprintf(stderr, "No se puede capturar video"); > } > > cvNamedWindow("Camara", CV_WINDOW_AUTOSIZE); > > int a; > for (;;){ > img = cvQueryFrame(camaraWeb); > cvShowImage("Camara", img); > > a=cvWaitKey(2); > if ( a == 27); > break; > } > return 0; > } > > the version of linux that I'm using is: Debian 5.0; with v4l2 drivers > and gcc version 4.3.2 and opencv 1.0.0 > > So I don?t now why the image in opencv is distorded and with the > software included with the robot works perpect, did I miss something, or > what happends? > > Someone that could help me to configure the opencv library or drivers to > solve my problem? > > I send an image of how the image obtained with opencv is seen. > > Thanks > > > > > > > > > > > > > > > > > > > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 dblank at brynmawr.edu Wed Sep 2 11:41:06 2009 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Wed, 02 Sep 2009 11:41:06 -0400 Subject: [Aria-users] Canon camera VC-C50i and openCV In-Reply-To: <4A9E8851.2080809@mobilerobots.com> References: <4A9E8851.2080809@mobilerobots.com> Message-ID: <4A9E9212.4040603@brynmawr.edu> Don't know if this is related or not, but we just recently saw previously-working OpenCV interfaces break with some recent kernel, or driver-level change (perhaps video4linux2). This looks like an initialization change. I think xawtv seems to do the init just fine, so we have been running that first to init, and then opencv works ok. -Doug Matt LaFary wrote: > Did you try just using NTSC with OpenCV? I don't think SAV does PAL, > and I think we've only sold NTSC cameras for a long time. > > The image also looks to me like images that are the wrong size wind up > looking. SAV by default uses 320x240, though you can also use 640x480, > 160x120, or 80x60. You should make sure you're using one of those sizes > for your image in OpenCV. > > Matt LaFary > MobileRobots Inc > > And C. E. wrote: >> Hi, I have a Canon camera VC-C50i and my problem is when working with >> opencv the camera shows a distorted image, instead of a normal image, >> the camera works well with program SAV, but the problem is when I try to >> obtain the image with opencv, it gets a wrong image, I already red the >> aria section "Using OpenCV with Aria" and recompiled opencv many times >> with the changes in: #define CHANNEL_NUMBER 1 and >> selectedChannel.norm = VIDEO_MODE_NTSC; for this: >> >> >> 1) #define CHANNEL_NUMBER 1 and selectedChannel.norm = VIDEO_MODE_PAL; >> 2) #define CHANNEL_NUMBER 0 and selectedChannel.norm = VIDEO_MODE_PAL; >> >> this changes where in the file "cvcap_v4l.cpp" , and the code where I >> change the channel norm was: >> >> { >> >> if(capture->capability.channels>0) { >> >> struct video_channel selectedChannel; >> >> selectedChannel.channel=CHANNEL_NUMBER; >> if (ioctl(capture->deviceHandle, VIDIOCGCHAN , &selectedChannel) >> != -1) { >> /* set the video mode to ( VIDEO_MODE_PAL, VIDEO_MODE_NTSC, >> VIDEO_MODE_SECAM) */ >> selectedChannel.norm = >> VIDEO_MODE_NTSC; >> /********* here was the change ************/ >> if (ioctl(capture->deviceHandle, VIDIOCSCHAN , >> &selectedChannel) == -1) { >> /* Could not set selected channel - Oh well */ >> //printf("\n%d, %s not NTSC >> capable.\n",selectedChannel.channel, selectedChannel.name); >> } /* End if */ >> } /* End if */ >> } /* End if */ >> >> } >> >> so the image get it from opencv was not good in both cases, this is the >> code that I used for get it the images from the canon camera: >> >> #include >> #include >> >> int main(){ >> CvCapture* camaraWeb = cvCaptureFromCAM(-1); >> IplImage* img = NULL; >> >> if (camaraWeb == NULL){ >> fprintf(stderr, "No se puede capturar video"); >> } >> >> cvNamedWindow("Camara", CV_WINDOW_AUTOSIZE); >> >> int a; >> for (;;){ >> img = cvQueryFrame(camaraWeb); >> cvShowImage("Camara", img); >> >> a=cvWaitKey(2); >> if ( a == 27); >> break; >> } >> return 0; >> } >> >> the version of linux that I'm using is: Debian 5.0; with v4l2 drivers >> and gcc version 4.3.2 and opencv 1.0.0 >> >> So I don?t now why the image in opencv is distorded and with the >> software included with the robot works perpect, did I miss something, or >> what happends? >> >> Someone that could help me to configure the opencv library or drivers to >> solve my problem? >> >> I send an image of how the image obtained with opencv is seen. >> >> Thanks >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> ------------------------------------------------------------------------ >> >> _______________________________________________ >> 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. > -- Douglas S. Blank Director, Institute for Personal Robots in Education (IPRE) http://www.roboteducation.org Chair, and Associate Professor, Computer Science, Bryn Mawr College http://cs.brynmawr.edu/~dblank (610)526-6501 From khoanqv at yahoo.com.vn Sat Sep 5 10:08:17 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Sat, 5 Sep 2009 22:08:17 +0800 (SGT) Subject: [Aria-users] transfer image Message-ID: <621985.65379.qm@web76010.mail.sg1.yahoo.com> Hi everyone, I am working with P3-AT robot, I establish network connection between my robot P3-AT (Debian) and my laptop, then tranfer image from embbed computer to laptop for processing (in laptop). I have run getvideoexample.cpp but it just receives 1 image per times. I want get a continuous stream of image ( just like SAV), I try to make a loop in getvideoexample.cpp but it doesn?t work. Could you please I me some suggestions to solve this problem? Thank a lot. Truy c?p Mail nhanh h?n! Yahoo! khuy?n kh?ch b?n n?ng c?p tr?nh duy?t l?n Internet Explorer 8 m?i, t?i ?u h?a cho Yahoo!. T?i t?i ??y! http://downloads.yahoo.com/vn/internetexplorer/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090905/fc60b506/attachment.html From reed at mobilerobots.com Tue Sep 8 09:56:14 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 08 Sep 2009 09:56:14 -0400 Subject: [Aria-users] transfer image In-Reply-To: <621985.65379.qm@web76010.mail.sg1.yahoo.com> References: <621985.65379.qm@web76010.mail.sg1.yahoo.com> Message-ID: <4AA6627E.4000905@mobilerobots.com> Hello, You can give a -rate option to getVideoExample. This determines how often the server is asked to send images back (via the second parameter to calls to ArServerBase::request()) Reed le duy khoa wrote: > Hi everyone, > I am working with P3-AT robot, I establish network connection between my robot P3-AT > (Debian) and my laptop, then tranfer image from embbed computer to laptop for > processing (in laptop). I have run getvideoexample.cpp > but it just receives 1 image per times. I want get a continuous stream of image ( just like SAV), I try to make a loop in getvideoexample.cpp but > it doesn?t work. Could you please I me some suggestions to solve this problem? > Thank a lot. > > > Truy c?p Mail nhanh h?n! Yahoo! khuy?n kh?ch b?n n?ng c?p tr?nh duy?t l?n Internet Explorer 8 m?i, t?i ?u h?a cho Yahoo!. T?i t?i ??y! > http://downloads.yahoo.com/vn/internetexplorer/ > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 miguel.thinktank at gmail.com Tue Sep 8 17:06:08 2009 From: miguel.thinktank at gmail.com (miguel pinto) Date: Tue, 8 Sep 2009 18:06:08 -0300 Subject: [Aria-users] Problem connecting sick Laser Message-ID: > > Hello, I am a new user on Aria. I am testing the code on mobileSim before using a real robot I intend to buy in a nearby future. I am having a problem to use the sicklaser on the mobilesim. My code is connecting normally with the robot, getting sonar readings and moving the robot around. Problem happens when I try to connect the laser. It sends me an exception: *0xC0000008: An invalid handle was specified.* If I insist to continue, the robot starts moving and I gather only the sonar, but I really want to use the laser for my study. I am copying my entire code...i bolted the part of the code where the exception occurs. ( *connector.connectLaser(&sick); ) * * * If someone could help me I would be most grateful. Regards, Miguel My code: int _tmain(int argc, char* argv[]) { int number; msg("Initialising the robot"); //Initiate the library - doing this at the beginning and "aria::exit" //at the end, seems to stop certain problems //in the destructors of some of the objects Aria::init(); msg("Creating an argument parser"); //An encapsulation of the valid input arguments to an ARIA program ArArgumentParser parser(&argc, argv); msg("Creating a connector"); //A means of connecting to the robot ArSimpleConnector connector(&parser); msg("Creating a robot"); //The main robot class ArRobot robot; #ifdef LASER // a laser in case one is used ArSick sick; #endif msg("Creating a sonar device"); //Create a sonar device ArSonarDevice sonarDev; //Assign the defaults required to connect to the simulation msg("Assigning default values"); parser.loadDefaultArguments(); //This will parse the arguments msg("Parsing default values"); if (!connector.parseArgs()) { msg("Unable to identify default settings"); scanf("%d",&number); exit(1); } // a key handler so we can do our key handling msg("Creating a key handler"); ArKeyHandler keyHandler; msg("Attaching key handler"); // let the global aria stuff know about it Aria::setKeyHandler(&keyHandler); // attach to the robot robot.attachKeyHandler(&keyHandler); msg("You may press escape to exit"); //Add the sonar to the robot msg("Attaching sonar device"); robot.addRangeDevice(&sonarDev); #ifdef LASER // add the laser to the robot robot.addRangeDevice(&sick); // add a gyro, it'll see if it should attach to the robot or not ArAnalogGyro gyro(&robot); #endif //Connect to the robot msg("Connecting to the robot"); if (!connector.connectRobot(&robot)) { msg("Unable to connect to simulation"); scanf("%d",&number); exit(1); } // start the robot running, true so that if we lose connection the run // stops msg("Run the robot!"); #ifdef LASER // set up the laser before handing it to the laser mode robot.runAsync(true); sick.runAsync(); // sick.runOnRobot();//.runAsync(); // connect the laser if it was requested *connector.connectLaser(&sick); //here I have the exception* { printf("Could not connect to laser... exiting\n"); Aria::exit(2); } #endif //Prevent anyone from tampering whilst we set up the robot msg("lock the robot!"); robot.lock(); //SET UP ROBOT HERE // turn on the motors msg("Turn on the motors"); robot.comInt(ArCommands::ENABLE, 1); ArModeWander wander(&robot, "wander", 'w', 'W'); ArModeTeleop teleop(&robot, "teleop", 't', 'T'); // ArModeWallFollow follow(&robot, "follow", 'f', 'F'); //The default behaviour wander.activate(); // turn on the motors robot.comInt(ArCommands::ENABLE, 1); msg("Unlock the robot"); robot.unlock(); robot.waitForRunExit(); Aria::exit(0); } -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090908/a0d37012/attachment.html From reed at mobilerobots.com Thu Sep 10 15:23:54 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 10 Sep 2009 15:23:54 -0400 Subject: [Aria-users] ARIA 2.7.1 and BaseArnl 1.7.1 released for Linux with laser bugfix Message-ID: <4AA9524A.3060802@mobilerobots.com> Linux packages for BaseArnl 1.7.1 and ARIA 2.7.1 have been released. (Windows packages were already released a while ago for this version). This version fixes some bugs in initial laser connections at startup; it would often be a problem for Windows, but occasionally a problem for Linux as well. See Changes.txt for a bit more info. ARNL, SONARNL and MOGS 1.7.0 all will work with the new BaseArnl 1.7.1. http://robots.mobilerobots.com/wiki/BaseArnl http://robots.mobilerobot.com/wiki/Aria Reed Hedges MobileRobots Inc. From reed at mobilerobots.com Thu Sep 10 15:36:25 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 10 Sep 2009 15:36:25 -0400 Subject: [Aria-users] ARIA 2.7.1 and BaseArnl 1.7.1 released for Linux with laser bugfix - corrected link In-Reply-To: <4AA9524A.3060802@mobilerobots.com> References: <4AA9524A.3060802@mobilerobots.com> Message-ID: <4AA95539.1000009@mobilerobots.com> Note corrected Aria link below > http://robots.mobilerobots.com/wiki/BaseArnl > > http://robots.mobilerobots.com/wiki/Aria > From jmcuadra at dia.uned.es Mon Sep 14 08:37:16 2009 From: jmcuadra at dia.uned.es (Jose Manuel Cuadra Troncoso) Date: Mon, 14 Sep 2009 14:37:16 +0200 Subject: [Aria-users] Problems with VEL2 microcontroller command Message-ID: <1252931836.5322.47.camel@portatil-jose> Hi, I'm getting opposite behaviours sending VEL2 microcontroller command to MobileSim or to robots (Pioneer-3AT and AmigoBot). If, for instance, I send the command 32 10 -10 I get counterclockwise rotation in MobileSim but clockwise rotation in real robots. Documentation about VEL2 (32) command explains that first command parameter (10) is for right wheel and second one (-10) is for left wheel, so the above command should rotate robot counterclockwise. I have gotten the same behaviour using Aria/examples/demo program to send the command ("d" menu option), using MobileEyes menu options (Tools->Robot_Tools->Custom_Commands->Micro_Controller_Commands), or using my own programs. I'm usign ARCOS 2.6 and Aria 2.7.0, 2.7.1. Pionner has been updated to Debian current stable. Thanks. Jose Manuel. -- ,.....................................,................................, : Jose Manuel Cuadra Troncoso : Email: jmcuadra at dia.uned.es : : Dpto. de Inteligencia Artificial : Tel: (+34) 91-398-7144 : : Univ. Nac. de Educacion a Distancia : Fax: (+34) 91-398-8895 : : Juan del Rosal, 16 - 3? : : : E-28040 Madrid SPAIN : http://www.ia.uned.es/~jmcuadra: '.....................................:................................' From khoanqv at yahoo.com.vn Tue Sep 15 09:20:34 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Tue, 15 Sep 2009 21:20:34 +0800 (SGT) Subject: [Aria-users] network question Message-ID: <378943.29574.qm@web76010.mail.sg1.yahoo.com> Hi everyone; I have some problems about network controlling: 1. I want the control camera (VC-C50i) through network. I research clientdemo.cpp to find out how to do that. But I don?t understand clearly this code: ArNetPacket packet; packet.doubleToBuf(myTransRatio); packet.doubleToBuf(myRotRatio); packet.doubleToBuf(50); if (myPrinting) printf("Sending\n"); myClient->requestOnce("ratioDrive", &packet); myTransRatio = 0; myRotRatio = 0; How could server understand that this packet just for control robot (not for camera)? In some mails in the list, I see someone write like this to control camera: cam_packet.doubleToBuf(panRatio); cam_packet.doubleToBuf(tiltRatio); cam_packet.doubleToBuf(zoomRatio); client.requestOnce("camera", &camera_packet); What is the diffences between ?cam_packet? and ?packet?? 2. How to read sensors (sonar, laser?) from client? In the reference, it says that I can use ArServerInfoSensor, but I don?t know exactly how to use it. Thank a lot. H? tr? T?m ki?m nay ?? c? tr?n Yahoo! Thanh c?ng c?. T?i ngay. http://vn.toolbar.yahoo.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090915/ccd531d1/attachment.html From reed at mobilerobots.com Tue Sep 15 14:27:00 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 15 Sep 2009 14:27:00 -0400 Subject: [Aria-users] Problems with VEL2 microcontroller command In-Reply-To: <1252931836.5322.47.camel@portatil-jose> References: <1252931836.5322.47.camel@portatil-jose> Message-ID: <4AAFDC74.8010301@mobilerobots.com> Hi Jose, I see the same behavior, it's a simple bug in MobileSim. VEL2 is not used in ARIA so has not been as carefully tested with MobileSim. It is a simple change in the MobileSim source code if you want to fix it until the next version of MobileSim is released, or I can make a bugfix release package if you need it. Just swap 'left' and 'right' in the VEL2 case in EmulatePioneer::Main() (I mixed up whether left or right was in the high or low byte of the command data value) Jose Manuel Cuadra Troncoso wrote: > Hi, > > I'm getting opposite behaviours sending VEL2 microcontroller command to > MobileSim or to robots (Pioneer-3AT and AmigoBot). If, for instance, I > send the command > 32 10 -10 > I get counterclockwise rotation in MobileSim but clockwise rotation in > real robots. > Documentation about VEL2 (32) command explains that first command > parameter (10) is for right wheel and second one (-10) is for left > wheel, so the above command should rotate robot counterclockwise. > I have gotten the same behaviour using Aria/examples/demo program to > send the command ("d" menu option), using MobileEyes menu options > (Tools->Robot_Tools->Custom_Commands->Micro_Controller_Commands), or > using my own programs. > I'm usign ARCOS 2.6 and Aria 2.7.0, 2.7.1. > Pionner has been updated to Debian current stable. > > Thanks. > Jose Manuel. > From reed at mobilerobots.com Tue Sep 15 14:45:34 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 15 Sep 2009 14:45:34 -0400 Subject: [Aria-users] network question In-Reply-To: <378943.29574.qm@web76010.mail.sg1.yahoo.com> References: <378943.29574.qm@web76010.mail.sg1.yahoo.com> Message-ID: <4AAFE0CE.1060800@mobilerobots.com> Hello, The function of the command packet is given in the first argument of request() or requestOnce(): for robot human teloperation control the command name is "ratioDrive", for the camera in your second example its "camera". The server program has associated these names with an handler function in ArNetworking's ArServerBase class, so that when the packet with that type is received it calls the handler function. For the ratioDrive and camera-related functions, the ArServerHandlerRatioDrive and ArServerHandlerCamera classes do this association with ArServerBase, so that is why you may not see them in the code for the server program. For a client to handle an ArServerInfoSensor it must register a handler function (using an ArFunctor object to store it) with the ArClientBase object. Then use request() or requestOnce() to request that the server send the packet. Give the name of the sensor (as a null-terminated string) in the packet sent as the request. Your handler function will be called and given a reference to the packet. Use the ArBasePacket API to read values from the packet. The order and types of the values is given in the documentation for ArServerInfoSensor. le duy khoa wrote: > Hi everyone; > > I have some problems about network controlling: > > 1. I want the control camera (VC-C50i) through network. I research > clientdemo.cpp to find out how to do that. But I don?t understand > clearly this code: > > ArNetPacket packet; > > packet.doubleToBuf (myTransRatio ); > > packet.doubleToBuf (myRotRatio ); > > packet.doubleToBuf (50); if (myPrinting ) > > printf("Sending\n"); > > myClient ->requestOnce ("ratioDrive", &packet); > > myTransRatio = 0; > > myRotRatio = 0; > > How could server understand that this packet just for control robot (not > for camera)? > > In some mails in the list, I see someone write like this to control camera: > > cam_packet.doubleToBuf(panRatio); > > cam_packet.doubleToBuf(tiltRatio); > > cam_packet.doubleToBuf(zoomRatio); > > client.requestOnce("camera", &camera_packet); > > What is the diffences between ?cam_packet? and ?packet?? > > > > 2. How to read sensors (sonar, laser?) from client? In the reference, it > says that I can use ArServerInfoSensor > , > but I don?t know exactly how to use it. > > > > Thank a lot. > > > ------------------------------------------------------------------------ > H?y d?ng Yahoo! Messenger 9.0 m?i > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 jyt0729 at snut.ac.kr Tue Sep 15 20:28:49 2009 From: jyt0729 at snut.ac.kr (=?EUC-KR?B?wba/68XC?=) Date: Wed, 16 Sep 2009 09:28:49 +0900 (KST) Subject: [Aria-users] ARNL question Message-ID: <29056830.1253060929121.JavaMail.root@mail> Hi. I am a P3-AT mobilerobot user. When i purchased P3-AT, i did not buy with SICK LMS200 LRF. So this time i am going to purchase SICK LMS200 LRF and connect to P3-AT First, after connecting SICK LMS200 LRF at desktop and then made sure that the SICK LMS200 LRF was working. However, i tried to connect with P3-AT refering ARNL manual offering your company but SICK LMS200LRF did't work. SICK LMS200 LRF is 24V but power is 12v in manual. And I do not know that SICK LMS200 LRF serial port is connected to where P3-AT is . Please inform in detail how to connect P3-AT and SICK LMS200 LRF to me. I will thank you to attach picture connecting process actually. I do not know method connecting P3-AT and SICK LMS200 LRF using manual. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090916/b7fd4a86/attachment-0001.html From reed at mobilerobots.com Wed Sep 16 10:38:32 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 16 Sep 2009 10:38:32 -0400 Subject: [Aria-users] ARNL question In-Reply-To: <29056830.1253060929121.JavaMail.root@mail> References: <29056830.1253060929121.JavaMail.root@mail> Message-ID: <4AB0F868.6070402@mobilerobots.com> Hello, You need a SICK integration component (which includes the DC voltage converter), as well as the appropriate cables. You can contact support at mobilerobots.com for more information and help ordering that. Please include the serial number of your P3-AT robot when you email support. If you want to use the ARNL software you will also need to purchase it as well. Reed ??? wrote: > Hi. I am a P3-AT mobilerobot user. > > When i purchased P3-AT, i did not buy with SICK LMS200 LRF. > > So this time i am going to purchase SICK LMS200 LRF and connect to P3-AT > > First, after connecting SICK LMS200 LRF at desktop and then made sure that the SICK > > LMS200 LRF was working. > > However, i tried to connect with P3-AT refering ARNL manual offering your company but > > SICK LMS200LRF did't work. > > SICK LMS200 LRF is 24V but power is 12v in manual. > > And I do not know that SICK LMS200 LRF serial port is connected to where P3-AT is . > > Please inform in detail how to connect P3-AT and SICK LMS200 LRF to me. > > I will thank you to attach picture connecting process actually. > > I do not know method connecting P3-AT and SICK LMS200 LRF using manual. > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Sep 21 09:09:52 2009 From: khoanqv at yahoo.com.vn (le duy khoa) Date: Mon, 21 Sep 2009 21:09:52 +0800 (SGT) Subject: [Aria-users] direct command Message-ID: <573885.51150.qm@web76013.mail.sg1.yahoo.com> Hi everyone, I am using robot P3-AT and I want to send direct commands to microcontroller board through network. (for example controlling in/ouput port). In server, I run server demo and in the client I write some code: ArNetPacket packet_control; ..... myClient->requestOnce("MicroControllerCommand", &packet_control); But I don't know exactly the structure of packet_control. I try some way but it doesn't work. Could you give me some advices? (for example send command com2Bytes DIGOUT 3 2 to microcontroller board ) Thank a lot L?m th? n?o ?? lu?n c?m th?y h?nh ph?c trong cu?c s?ng? Xem nh?ng ? ki?n th? v? nh?t t?i Yahoo! H?i & ??p." http://vn.answers.yahoo.com -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090921/4ee86ff4/attachment.html From roboticsericcarter at gmail.com Tue Sep 22 02:31:23 2009 From: roboticsericcarter at gmail.com (Eric Carter) Date: Tue, 22 Sep 2009 02:31:23 -0400 Subject: [Aria-users] Multi Thread in ArJava Message-ID: <34ebd4740909212331o72ec7c17gbba25bc2aefa847f@mail.gmail.com> Hello All, I got a little bit confused about ArAction. I am using ArJava and would like create an action that detects moving objects around. I went through examples and tried a couple of things. I created a new action which does some sonar interperations. However I realized that since my previously written code includes direct motion commands for point target extractions taken from the camera, basically gets a target point and calculates the distance and heading for move commands (I was using runAsyc and lock and unlock) my user defined action does not work. Do you think am I doing something conceptually wrong ? I doubt if I can use action concept of Aria while I am making it run as Async ? If this is the case would you recommend me to use ArAsync libraries to create an another thread ? if yes, should I use ArMutex or Java's own threading Thanks for any ideas Eric -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090922/9e3bf360/attachment.html From ncmaeda at gmail.com Wed Sep 23 11:58:22 2009 From: ncmaeda at gmail.com (Bruno Maeda) Date: Wed, 23 Sep 2009 12:58:22 -0300 Subject: [Aria-users] [ARNL] Need some help Message-ID: Hi. I'm starting to use a Pioneer 2-DX on College, but I'm having some problems and I need some help. First, I started using ARIA to create a simple program to control my robot (for now, just using MobileSim). Then my first problem: Is it normal the robot pass through my walls on the simulator??? Because that is what he is doing.... even if I use sample maps and sample programs (so I guess it's not my implementation...) Second, I tried some coding using ARNL + MobileEyes for robot's navigation and localization, but I coudn't make it work very well.... I also ran the sample code that came with the package (sonarnlServer.exe -map columbia.map) and it connected fine, but my robot kept on spinning in the MobileEyes (even if it was just sopped on the simulator), like it couldn't find his location... I tried to use "Localize to Point", but it didn't work as well.... I guess that is it.... I'd be pleased if someone could help me.... thanks. []'s maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090923/924b3090/attachment.html From budsbd at gmail.com Wed Sep 23 12:09:04 2009 From: budsbd at gmail.com (Pedro d'Aquino) Date: Wed, 23 Sep 2009 13:09:04 -0300 Subject: [Aria-users] [ARNL] Need some help In-Reply-To: References: Message-ID: <9f2afcd50909230909j6d5cfd21xa2a836fa59706f8a@mail.gmail.com> Hello Bruno, I've also faced your second problem. Whenever I ran sonarnlServer + MobileSim + MobileEyes, the robot in MobileEyes would start spinning madly. The thing is, it seems sonarnlServer tries to restore the last robot pose, which is kept in a file somewhere. Commenting out the following snippet in sonarnlServer.cpp fixed it for me: // create a pose storage class, this will let the program keep track // of where the robot is between runs... after we try and restore // from this file it will start saving the robot's pose into the // file // ArPoseStorage poseStorage(&robot); /// if we could restore the pose from then set the sim there (this /// won't do anything to the real robot)... if we couldn't restore /// the pose then just reset the position of the robot (which again /// won't do anything to the real robot) // if (poseStorage.restorePose("robotPose")) // serverLocHandler.setSimPose(robot.getPose()); // else // robot.com(ArCommands::SIM_RESET); Of course, that means you'll have to recompile sonarnlServer. If I'm not mistaken, you go to the same college as me, so you speak Portuguese, right? In that case, our graduation project uses a P2DX, and we've set up a wiki that might help you get started: http://code.google.com/p/tccsauron/w/list Best of luck, Pedro d'Aquino On Wed, Sep 23, 2009 at 12:58 PM, Bruno Maeda wrote: > Hi. I'm starting to use a Pioneer 2-DX on College, but I'm having some > problems and I need some help. > First, I started using ARIA to create a simple program to control my robot > (for now, just using MobileSim). Then my first problem: Is it normal the > robot pass through my walls on the simulator??? Because that is what he is > doing.... even if I use sample maps and sample programs (so I guess it's not > my implementation...) > > Second, I tried some coding using ARNL + MobileEyes for robot's navigation > and localization, but I coudn't make it work very well.... I also ran the > sample code that came with the package (sonarnlServer.exe -map columbia.map) > and it connected fine, but my robot kept on spinning in the MobileEyes (even > if it was just sopped on the simulator), like it couldn't find his > location... I tried to use "Localize to Point", but it didn't work as > well.... > > I guess that is it.... I'd be pleased if someone could help me.... > > thanks. > > []'s > > maeda > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090923/e36f089f/attachment.html From ncmaeda at gmail.com Wed Sep 23 12:22:18 2009 From: ncmaeda at gmail.com (Bruno Maeda) Date: Wed, 23 Sep 2009 13:22:18 -0300 Subject: [Aria-users] [ARNL] Need some help In-Reply-To: <9f2afcd50909230909j6d5cfd21xa2a836fa59706f8a@mail.gmail.com> References: <9f2afcd50909230909j6d5cfd21xa2a836fa59706f8a@mail.gmail.com> Message-ID: Thanks Pedro.... I will try to modify the code and see what happens... that probably will solve my problem... (yeah, I am from poli-usp as well) thanks. []'s maeda On Wed, Sep 23, 2009 at 1:09 PM, Pedro d'Aquino wrote: > Hello Bruno, > > I've also faced your second problem. Whenever I ran sonarnlServer + > MobileSim + MobileEyes, the robot in MobileEyes would start spinning madly. > The thing is, it seems sonarnlServer tries to restore the last robot pose, > which is kept in a file somewhere. Commenting out the following snippet in > sonarnlServer.cpp fixed it for me: > > // create a pose storage class, this will let the program keep track > // of where the robot is between runs... after we try and restore > // from this file it will start saving the robot's pose into the > // file > // ArPoseStorage poseStorage(&robot); > /// if we could restore the pose from then set the sim there (this > /// won't do anything to the real robot)... if we couldn't restore > /// the pose then just reset the position of the robot (which again > /// won't do anything to the real robot) > // if (poseStorage.restorePose("robotPose")) > // serverLocHandler.setSimPose(robot.getPose()); > // else > // robot.com(ArCommands::SIM_RESET); > > Of course, that means you'll have to recompile sonarnlServer. > > If I'm not mistaken, you go to the same college as me, so you speak > Portuguese, right? In that case, our graduation project uses a P2DX, and > we've set up a wiki that might help you get started: > http://code.google.com/p/tccsauron/w/list > > Best of luck, > > Pedro d'Aquino > > On Wed, Sep 23, 2009 at 12:58 PM, Bruno Maeda wrote: > >> Hi. I'm starting to use a Pioneer 2-DX on College, but I'm having some >> problems and I need some help. >> First, I started using ARIA to create a simple program to control my robot >> (for now, just using MobileSim). Then my first problem: Is it normal the >> robot pass through my walls on the simulator??? Because that is what he is >> doing.... even if I use sample maps and sample programs (so I guess it's not >> my implementation...) >> >> Second, I tried some coding using ARNL + MobileEyes for robot's navigation >> and localization, but I coudn't make it work very well.... I also ran the >> sample code that came with the package (sonarnlServer.exe -map columbia.map) >> and it connected fine, but my robot kept on spinning in the MobileEyes (even >> if it was just sopped on the simulator), like it couldn't find his >> location... I tried to use "Localize to Point", but it didn't work as >> well.... >> >> I guess that is it.... I'd be pleased if someone could help me.... >> >> thanks. >> >> []'s >> >> maeda >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090923/5b50ae0a/attachment-0001.html From reed at mobilerobots.com Thu Sep 24 14:48:15 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 24 Sep 2009 14:48:15 -0400 Subject: [Aria-users] Multi Thread in ArJava In-Reply-To: <34ebd4740909212331o72ec7c17gbba25bc2aefa847f@mail.gmail.com> References: <34ebd4740909212331o72ec7c17gbba25bc2aefa847f@mail.gmail.com> Message-ID: <4ABBBEEF.3090009@mobilerobots.com> Hi Eric. If you are using direct motion functions (e.g. methods in ArRobot like setVel() or move() or setHeading()), then you cannot use actions at the same time. You should use one or the other, or they can conflict. (i.e. if actions are requesting some motion, then any call to a direct motion function can override or conflict with it or vice versa, in an unpredictable way). If you want to continue using direct motion calls like you were before, you can do the sensor interpretations in the main thread (same as the calls to the heading and move commands), or in a new Java thread, or in a ArRobot sensor interpretation callback (if you write a new class based on the ArFunctor base class). You can make any motion command calls to ArRobot after calling runAsync() so long as you call lock() before and unlock() after. I don't know how easy it is to use ARIA's threading classes in Java, I've never tried it. Eric Carter wrote: > Hello All, > > I got a little bit confused about ArAction. I am using ArJava and would like > create an action that detects moving objects around. I went through examples > and tried a couple of things. > > I created a new action which does some sonar interperations. However I > realized that since my previously written code includes direct motion > commands for point target extractions taken from the camera, basically gets > a target point and calculates the distance and heading for move commands (I > was using runAsyc and lock and unlock) my user defined action does not > work. Do you think am I doing something conceptually wrong ? > > I doubt if I can use action concept of Aria while I am making it run as > Async ? > > If this is the case would you recommend me to use ArAsync libraries to > create an another thread ? if yes, should I use ArMutex or Java's own > threading > > Thanks for any ideas > > Eric > > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Sep 24 14:58:13 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 24 Sep 2009 14:58:13 -0400 Subject: [Aria-users] [ARNL] Need some help In-Reply-To: References: Message-ID: <4ABBC145.6070601@mobilerobots.com> Hi Bruno, What operating system are you running MobileSim on? Note that there are unsolved (and mysterious) issues on Windows Vista, while it runs fine on Windows XP and Linux. Bruno Maeda wrote: > Then my first problem: Is it normal the > robot pass through my walls on the simulator??? Because that is what he is > doing.... even if I use sample maps and sample programs (so I guess it's not > my implementation...) No, the simulator should not allow the robot to pass through a wall, though it is possible for it to intersect with the wall after a collision (it should allow the robot to rotate or back away from this collision though). The robot could "jump" over a wall if the simulator was running at a very low time resolution; the simulation runs in discrete steps. At each step it moves the robot forward based on commanded speed. If is only able to update the simulation every few seconds or something (you can check the current update rate in the bottom of the window), then it may move the robot forward by more than the length of the robot, and it will jump over an obstacle. But the simulation would have to be running at an unusably slow speed for this to happen. > > Second, I tried some coding using ARNL + MobileEyes for robot's navigation > and localization, but I coudn't make it work very well.... I also ran the > sample code that came with the package (sonarnlServer.exe -map columbia.map) > and it connected fine, but my robot kept on spinning in the MobileEyes (even > if it was just sopped on the simulator), like it couldn't find his > location... I tried to use "Localize to Point", but it didn't work as > well.... Can you describe this in more detail? What do you mean by spinning? Is it turning at a constant rate? Or is it jumping to different positions and orientations periodically? Do sensor readings (Laser or sonar marks) appear in the right place in relation to the robot in MobileEyes (based on where obstacles are in the simulator)? Reed From ncmaeda at gmail.com Sat Sep 26 09:55:37 2009 From: ncmaeda at gmail.com (Bruno Maeda) Date: Sat, 26 Sep 2009 10:55:37 -0300 Subject: [Aria-users] [ARNL] Need some help In-Reply-To: <4ABBC145.6070601@mobilerobots.com> References: <4ABBC145.6070601@mobilerobots.com> Message-ID: I'm running on Vista and Slackware.... but the Pedro's tip solve my problem... about spinning....., it's really "spinning" (turning arround itself)... sometimes it jumps to random positions, buts I gess it's because it get lost, so it's just fix it's real position... and yes, sensors are working fine.... but the robot stopped passing through the walls when I downgraded the MobileSim to version 0.4 (this version works faster and don't has the bugs that was troubling me on v. 0.5) but thanks []'s maeda On Thu, Sep 24, 2009 at 3:58 PM, Reed Hedges wrote: > > Hi Bruno, > > What operating system are you running MobileSim on? Note that there are > unsolved (and mysterious) issues on Windows Vista, while it runs fine on > Windows > XP and Linux. > > Bruno Maeda wrote: > > Then my first problem: Is it normal the > > robot pass through my walls on the simulator??? Because that is what he > is > > doing.... even if I use sample maps and sample programs (so I guess it's > not > > my implementation...) > > No, the simulator should not allow the robot to pass through a wall, though > it > is possible for it to intersect with the wall after a collision (it should > allow > the robot to rotate or back away from this collision though). > > The robot could "jump" over a wall if the simulator was running at a very > low > time resolution; the simulation runs in discrete steps. At each step it > moves > the robot forward based on commanded speed. If is only able to update the > simulation every few seconds or something (you can check the current update > rate > in the bottom of the window), then it may move the robot forward by more > than > the length of the robot, and it will jump over an obstacle. But the > simulation > would have to be running at an unusably slow speed for this to happen. > > > > > > > > Second, I tried some coding using ARNL + MobileEyes for robot's > navigation > > and localization, but I coudn't make it work very well.... I also ran the > > sample code that came with the package (sonarnlServer.exe -map > columbia.map) > > and it connected fine, but my robot kept on spinning in the MobileEyes > (even > > if it was just sopped on the simulator), like it couldn't find his > > location... I tried to use "Localize to Point", but it didn't work as > > well.... > > Can you describe this in more detail? What do you mean by spinning? Is it > turning at a constant rate? Or is it jumping to different positions and > orientations periodically? Do sensor readings (Laser or sonar marks) > appear in > the right place in relation to the robot in MobileEyes (based on where > obstacles > are in the simulator)? > > Reed > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090926/82286ee1/attachment.html From jokyzhuang at gmail.com Mon Sep 28 12:30:52 2009 From: jokyzhuang at gmail.com (Rui zhuang) Date: Mon, 28 Sep 2009 11:30:52 -0500 Subject: [Aria-users] using opencv to retrieve the vcc50i's frame Message-ID: hello, I have encountered a problem using the pioneer 3 at robot when I'm trying to use opencv to retrieve the vcc50i camera's frame. The robot use windows and has the framegrabber sx11, the acts can retrieve the frame successfully, but when I trying to use the CvCapture* capture = cvCaptureFramCAM(1); the capture is always null, and the opencv works fine in my laptop when I work with a usb camera. does anyone has encoutered this problems before and could someone give me a help? Thanks. Rui -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20090928/aec0519a/attachment.html From cywong at i2r.a-star.edu.sg Wed Sep 30 00:12:06 2009 From: cywong at i2r.a-star.edu.sg (antiwong wong) Date: Wed, 30 Sep 2009 12:12:06 +0800 Subject: [Aria-users] powerbot screw size Message-ID: hi, We have misplaced all the screws to secure the baseplate for the powerbot. Could someone please provide us with details of the screws that are used? it's a countersunk screw that's about 30mm long. We need to know the thread size. thanks, Anthony Institute for Infocomm Research disclaimer: "This email is confidential and may be privileged. If you are not the intended recipient, please delete it and notify us immediately. Please do not copy or use it for any purpose, or disclose its contents to any other person. Thank you."