From zhossain.kuet at yahoo.com Sun Aug 1 23:00:54 2010 From: zhossain.kuet at yahoo.com (Hossain, Md.Z) Date: Sun, 1 Aug 2010 20:00:54 -0700 (PDT) Subject: [Aria-users] Cann't connect to sick laser Message-ID: <288379.80152.qm@web46411.mail.sp1.yahoo.com> Hi all, I can connect to robot and laser from another laptop(OS: OpenSuse) using command "./main -rp /dev/ttyUSB0 -lp /dev/ttyUSB1". Now i'm trying to get connection from my laptop(OS: ubuntu 10.04, Aria version: 2.7.2, gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5)) but getting output mentioned below...... albot at albot-CAIR:~/test$ ./main -rp /dev/ttyUSB0 -lp /dev/ttyUSB1 Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: Aukland_2139 Type: Pioneer Subtype: p3dx-sh Using default parameters for a p3dx-sh robot ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type ArLaserConnector: Cannot create a deviceConnection of type serial options are <> laser: Invalid device connection, cannot connect. Could not connect to SICK laser... exiting ArRobot::remLaser: Could not find laser laser to remove Disconnecting from robot. Segmentation fault my simple code: #include "Aria.h" int main(int argc, char **argv) { // parse our args and make sure they were all accounted for ArSimpleConnector connector(&argc, argv); // the robot ArRobot robot; // the laser ArSick sick; if (!connector.parseArgs() || argc > 1) { connector.logOptions(); exit(1); } // add the laser to the robot robot.addRangeDevice(&sick); // try to connect, if we fail exit if (!connector.connectRobot(&robot)) { printf("Could not connect to robot... exiting\n"); Aria::shutdown(); return 1; } // turn on the motors, turn off amigobot sounds robot.comInt(ArCommands::ENABLE, 1); robot.comInt(ArCommands::SOUNDTOG, 0); robot.runAsync(true); robot.lock(); robot.clearDirectMotion(); robot.unlock(); // now set up the laser connector.setupLaser(&sick); sick.runAsync(); if (!sick.blockingConnect()){ printf("Could not connect to SICK laser... exiting\n"); Aria::shutdown(); return 1; } printf("Connected\n"); ArUtil::sleep(500); robot.disconnect(); Aria::shutdown(); return 0; } Any suggestions will be appreciated. br CAIR -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100801/659f919f/attachment.html From zhossain.kuet at yahoo.com Sun Aug 1 23:35:45 2010 From: zhossain.kuet at yahoo.com (Hossain, Md.Z) Date: Sun, 1 Aug 2010 20:35:45 -0700 (PDT) Subject: [Aria-users] Cann't connect to sick laser In-Reply-To: <288379.80152.qm@web46411.mail.sp1.yahoo.com> References: <288379.80152.qm@web46411.mail.sp1.yahoo.com> Message-ID: <737205.5864.qm@web46410.mail.sp1.yahoo.com> Sorry, i got it. I missed Aria::init(); ________________________________ From: "Hossain, Md.Z" To: aria-users at lists.mobilerobots.com Sent: Mon, August 2, 2010 3:00:54 PM Subject: [Aria-users] Cann't connect to sick laser Hi all, I can connect to robot and laser from another laptop(OS: OpenSuse) using command "./main -rp /dev/ttyUSB0 -lp /dev/ttyUSB1". Now i'm trying to get connection from my laptop(OS: ubuntu 10.04, Aria version: 2.7.2, gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5)) but getting output mentioned below...... albot at albot-CAIR:~/test$ ./main -rp /dev/ttyUSB0 -lp /dev/ttyUSB1 Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: Aukland_2139 Type: Pioneer Subtype: p3dx-sh Using default parameters for a p3dx-sh robot ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type ArLaserConnector: Cannot create a deviceConnection of type serial options are <> laser: Invalid device connection, cannot connect. Could not connect to SICK laser... exiting ArRobot::remLaser: Could not find laser laser to remove Disconnecting from robot. Segmentation fault my simple code: #include "Aria.h" int main(int argc, char **argv) { // parse our args and make sure they were all accounted for ArSimpleConnector connector(&argc, argv); // the robot ArRobot robot; // the laser ArSick sick; if (!connector.parseArgs() || argc > 1) { connector.logOptions(); exit(1); } // add the laser to the robot robot.addRangeDevice(&sick); // try to connect, if we fail exit if (!connector.connectRobot(&robot)) { printf("Could not connect to robot... exiting\n"); Aria::shutdown(); return 1; } // turn on the motors, turn off amigobot sounds robot.comInt(ArCommands::ENABLE, 1); robot.comInt(ArCommands::SOUNDTOG, 0); robot.runAsync(true); robot.lock(); robot.clearDirectMotion(); robot.unlock(); // now set up the laser connector.setupLaser(&sick); sick.runAsync(); if (!sick.blockingConnect()){ printf("Could not connect to SICK laser... exiting\n"); Aria::shutdown(); return 1; } printf("Connected\n"); ArUtil::sleep(500); robot.disconnect(); Aria::shutdown(); return 0; } Any suggestions will be appreciated. br CAIR -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100801/0684a270/attachment.html From milella at ba.issia.cnr.it Tue Aug 3 03:59:38 2010 From: milella at ba.issia.cnr.it (Annalisa Milella) Date: Tue, 03 Aug 2010 09:59:38 +0200 Subject: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL Message-ID: <4C57CC6A.3090304@ba.issia.cnr.it> Hi, we have a problem with Debian Linux 4.1 libraries for ARNL. When we try to execute arnlServer from ARNL examples, we get the following error message: lms2xx_1: waiting for laser to power on. Aria: Received signal 'SIGSEGV'. Exiting. Disconnecting from robot. We also get the following error, if we try to run sickLogger: Loaded robot parameters from p3at.p Stabilizing gyro ArLaserConnector: Using robot params for connecting to laser ArLaserLogger: Apparently there are no readings... laser: waiting for laser to power on. Aria: Received signal 'SIGSEGV'. Exiting. Disconnecting from robot. All the examples in ARIA (ARIA 2.7.2), including sickLogger, work correctly instead. Do you have any suggestion to solve the problem? Thanks. Annalisa From andrecb at gmail.com Wed Aug 4 09:42:17 2010 From: andrecb at gmail.com (Andre Carvalho Bittencourt) Date: Wed, 4 Aug 2010 15:42:17 +0200 Subject: [Aria-users] Building a map with mapper3 Message-ID: Hello, I am currently running in an offboard laptop connected to the robot and laser through serial ports and I am trying to use mapper3 to build a simple map. I followed the 2 attempts explained in the manual a) use arnlServer and MobileEyes to scan the environment and make some scans and then open (Open on robot ) This fails when I try to connect Mapper3 to the robot with the following message 'Robot localhost does not support file operations for this user.Please select another server.' b) use sickLogger to save the scans to a .2d file and then load it using mapper3 This fails when I try to save the .map file with the message: 'An error occurred while saving C:/...' The error messages are not very helpful and I can't realize what am I doing wrong. I can connect to MobileEyes normally, ithe problem only appears with Mapper3. Any turn around? I am running everything in WinXP as administrator. Thanks in advance, -- ______________________ Andr? Carvalho Bittencourt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100804/4d108c50/attachment.html From Reed.Hedges at Adept.com Wed Aug 4 09:52:00 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 4 Aug 2010 06:52:00 -0700 Subject: [Aria-users] Building a map with mapper3 In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02CEC695@SRV-APP-6.adept.local> When running on Windows, arnlServer cannot transfer maps directly to or from Mapper3, it's unimplemented. You can just save the map file from Mapper3, then use MobileEyes Robot Configuration (Tools menu) to select the map and have arnlServer reload it. What is the exact command you are using with sickLogger? Are you using sickLogger from ARIA or ARNL, and if so what version? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Andre Carvalho Bittencourt Sent: Wednesday, August 04, 2010 9:42 AM To: aria-users at lists.mobilerobots.com Subject: [Aria-users] Building a map with mapper3 Hello, I am currently running in an offboard laptop connected to the robot and laser through serial ports and I am trying to use mapper3 to build a simple map. I followed the 2 attempts explained in the manual a) use arnlServer and MobileEyes to scan the environment and make some scans and then open (Open on robot ) This fails when I try to connect Mapper3 to the robot with the following message 'Robot localhost does not support file operations for this user.Please select another server.' b) use sickLogger to save the scans to a .2d file and then load it using mapper3 This fails when I try to save the .map file with the message: 'An error occurred while saving C:/...' The error messages are not very helpful and I can't realize what am I doing wrong. I can connect to MobileEyes normally, ithe problem only appears with Mapper3. Any turn around? I am running everything in WinXP as administrator. Thanks in advance, -- ______________________ Andr? Carvalho Bittencourt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100804/2cc87a68/attachment.html From Reed.Hedges at Adept.com Wed Aug 4 09:52:43 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 4 Aug 2010 06:52:43 -0700 Subject: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL In-Reply-To: <4C57CC6A.3090304@ba.issia.cnr.it> References: <4C57CC6A.3090304@ba.issia.cnr.it> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02CEC696@SRV-APP-6.adept.local> Hello, What version of Linux are you running ARNL on? Did you compile anything after installing it, or are you running arnlServer as provided by the debian package? > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella > Sent: Tuesday, August 03, 2010 4:00 AM > To: aria-users at lists.mobilerobots.com > Subject: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL > > Hi, > > we have a problem with Debian Linux 4.1 libraries for ARNL. When we try > to execute arnlServer from ARNL examples, we get the following error > message: > lms2xx_1: waiting for laser to power on. > Aria: Received signal 'SIGSEGV'. Exiting. > Disconnecting from robot. > > We also get the following error, if we try to run sickLogger: > Loaded robot parameters from p3at.p > Stabilizing gyro > ArLaserConnector: Using robot params for connecting to laser > ArLaserLogger: Apparently there are no readings... > laser: waiting for laser to power on. > Aria: Received signal 'SIGSEGV'. Exiting. > Disconnecting from robot. > > All the examples in ARIA (ARIA 2.7.2), including sickLogger, work > correctly instead. > > Do you have any suggestion to solve the problem? > Thanks. > > Annalisa > > _______________________________________________ > 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. > > Mailing list archives are at http://lists.mobilerobots.com/ From andrecb at gmail.com Wed Aug 4 10:25:07 2010 From: andrecb at gmail.com (Andre Carvalho Bittencourt) Date: Wed, 4 Aug 2010 16:25:07 +0200 Subject: [Aria-users] Building a map with mapper3 In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02CEC695@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F02CEC695@SRV-APP-6.adept.local> Message-ID: I use ARNL Version 1.7.0 with command >> sickLogger test.2d -rp com8 -lp com2 Those are the ports where the robot and laser are connect, in fact, they are connected through a serial2usb adapter to my laptop. thanks in advance On 4 August 2010 15:52, Reed Hedges wrote: > When running on Windows, arnlServer cannot transfer maps directly to or > from Mapper3, it?s unimplemented. You can just save the map file from > Mapper3, then use MobileEyes Robot Configuration (Tools menu) to select the > map and have arnlServer reload it. > > > > What is the exact command you are using with sickLogger? Are you using > sickLogger from ARIA or ARNL, and if so what version? > > > > > > *From:* aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] *On Behalf Of *Andre Carvalho > Bittencourt > *Sent:* Wednesday, August 04, 2010 9:42 AM > *To:* aria-users at lists.mobilerobots.com > *Subject:* [Aria-users] Building a map with mapper3 > > > > Hello, > > I am currently running in an offboard laptop connected to the robot and > laser through serial ports and I am trying to use mapper3 to build a simple > map. > > I followed the 2 attempts explained in the manual > > a) use arnlServer and MobileEyes to scan the environment and make some > scans and then open (Open on robot ) > > This fails when I try to connect Mapper3 to the robot with the following > message 'Robot localhost does not support file operations for this > user.Please select another server.' > > > b) use sickLogger to save the scans to a .2d file and then load it using > mapper3 > > This fails when I try to save the .map file with the message: 'An error > occurred while saving C:/...' > > The error messages are not very helpful and I can't realize what am I doing > wrong. I can connect to MobileEyes normally, ithe problem only appears with > Mapper3. Any turn around? I am running everything in WinXP as administrator. > > Thanks in advance, > -- > ______________________ > Andr? Carvalho Bittencourt > > _______________________________________________ > 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. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -- ______________________ Andr? Carvalho Bittencourt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100804/2cedcc62/attachment.html From annalisamilella at libero.it Wed Aug 4 11:06:55 2010 From: annalisamilella at libero.it (annalisamilella at libero.it) Date: Wed, 4 Aug 2010 17:06:55 +0200 (CEST) Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries for ARNL Message-ID: <16168051.1131531280934415596.JavaMail.root@wmail42> Hi Reed, we are using Ubuntu 10.04. We tried to run arnlServer as provided by the debian package. Annalisa >----Messaggio originale---- >Da: Reed.Hedges at Adept.com >Data: 04/08/2010 15.52 >A: "Help, discussion and announcements for MobileRobots' Advanced Robot > Interface for Applications (ARIA) " >Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL > > >Hello, > >What version of Linux are you running ARNL on? Did you compile anything after installing it, or are you running arnlServer as provided by the debian package? > > > >> -----Original Message----- >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella >> Sent: Tuesday, August 03, 2010 4:00 AM >> To: aria-users at lists.mobilerobots.com >> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL >> >> Hi, >> >> we have a problem with Debian Linux 4.1 libraries for ARNL. When we try >> to execute arnlServer from ARNL examples, we get the following error >> message: >> lms2xx_1: waiting for laser to power on. >> Aria: Received signal 'SIGSEGV'. Exiting. >> Disconnecting from robot. >> >> We also get the following error, if we try to run sickLogger: >> Loaded robot parameters from p3at.p >> Stabilizing gyro >> ArLaserConnector: Using robot params for connecting to laser >> ArLaserLogger: Apparently there are no readings... >> laser: waiting for laser to power on. >> Aria: Received signal 'SIGSEGV'. Exiting. >> Disconnecting from robot. >> >> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work >> correctly instead. >> >> Do you have any suggestion to solve the problem? >> Thanks. >> >> Annalisa >> >> _______________________________________________ >> 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. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >_______________________________________________ >Aria-users mailing list >Aria-users at lists.mobilerobots.com >http://lists.mobilerobots.com/mailman/listinfo/aria-users > >To unsubscribe visit the above webpage or send an e-mail to: > >aria-users-leave at lists.mobilerobots.com > >Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > >Mailing list archives are at http://lists.mobilerobots.com/ > From toshy.maeda at gmail.com Thu Aug 5 07:10:46 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 5 Aug 2010 08:10:46 -0300 Subject: [Aria-users] ArRobot sync tasks too long.... Message-ID: When I'm simulating my program at MobileSim, It keeps on receiveing this message all the time... Is this a problem is better to solve? How can I do that? I also receive similar messages (lot less often) about task Packet Handler and ArRobot cycle... thanks. ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100805/16555a15/attachment.html From Reed.Hedges at Adept.com Wed Aug 11 11:05:29 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 11 Aug 2010 08:05:29 -0700 Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries for ARNL In-Reply-To: <16168051.1131531280934415596.JavaMail.root@wmail42> References: <16168051.1131531280934415596.JavaMail.root@wmail42> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845360@SRV-APP-6.adept.local> Have you had any luck with this? Sorry for the delay, but I may be able to test this later today. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of annalisamilella at libero.it > Sent: Wednesday, August 04, 2010 11:07 AM > To: aria-users at lists.mobilerobots.com > Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries > for ARNL > > Hi Reed, > > we are using Ubuntu 10.04. We tried to run arnlServer as provided by > the > debian package. > > > Annalisa > > >----Messaggio originale---- > >Da: Reed.Hedges at Adept.com > >Data: 04/08/2010 15.52 > >A: "Help, discussion and announcements for MobileRobots' Advanced > Robot > > Interface for Applications (ARIA) " users at lists.mobilerobots.com> > >Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL > > > > > >Hello, > > > >What version of Linux are you running ARNL on? Did you compile > anything > after installing it, or are you running arnlServer as provided by the > debian > package? > > > > > > > >> -----Original Message----- > >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > >> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella > >> Sent: Tuesday, August 03, 2010 4:00 AM > >> To: aria-users at lists.mobilerobots.com > >> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for > ARNL > >> > >> Hi, > >> > >> we have a problem with Debian Linux 4.1 libraries for ARNL. When we > try > >> to execute arnlServer from ARNL examples, we get the following error > >> message: > >> lms2xx_1: waiting for laser to power on. > >> Aria: Received signal 'SIGSEGV'. Exiting. > >> Disconnecting from robot. > >> > >> We also get the following error, if we try to run sickLogger: > >> Loaded robot parameters from p3at.p > >> Stabilizing gyro > >> ArLaserConnector: Using robot params for connecting to laser > >> ArLaserLogger: Apparently there are no readings... > >> laser: waiting for laser to power on. > >> Aria: Received signal 'SIGSEGV'. Exiting. > >> Disconnecting from robot. > >> > >> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work > >> correctly instead. > >> > >> Do you have any suggestion to solve the problem? > >> Thanks. > >> > >> Annalisa > >> > >> _______________________________________________ > >> 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. > >> > >> Mailing list archives are at http://lists.mobilerobots.com/ > >_______________________________________________ > >Aria-users mailing list > >Aria-users at lists.mobilerobots.com > >http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > >To unsubscribe visit the above webpage or send an e-mail to: > > > >aria-users-leave at lists.mobilerobots.com > > > >Visit http://robots.mobilerobots.com for information including > documentation, > FAQ, tips, manuals, and software, firmware and driver downloads. > > > >Mailing list archives are at http://lists.mobilerobots.com/ > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ From Reed.Hedges at Adept.com Wed Aug 11 11:11:53 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 11 Aug 2010 08:11:53 -0700 Subject: [Aria-users] Building a map with mapper3 In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F02CEC695@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845368@SRV-APP-6.adept.local> Hello, are you still having problems running sickLogger? I don't get any error messages running sickLogger. I run the command shell by choosing Start->Run and entering cmd. Then I cd to C:\Program Files\MobileRobots\Arnl\bin and run .\sickLogger.exe test.2d From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Andre Carvalho Bittencourt Sent: Wednesday, August 04, 2010 10:25 AM To: Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) Subject: Re: [Aria-users] Building a map with mapper3 I use ARNL Version 1.7.0 with command >> sickLogger test.2d -rp com8 -lp com2 Those are the ports where the robot and laser are connect, in fact, they are connected through a serial2usb adapter to my laptop. thanks in advance On 4 August 2010 15:52, Reed Hedges > wrote: When running on Windows, arnlServer cannot transfer maps directly to or from Mapper3, it's unimplemented. You can just save the map file from Mapper3, then use MobileEyes Robot Configuration (Tools menu) to select the map and have arnlServer reload it. What is the exact command you are using with sickLogger? Are you using sickLogger from ARIA or ARNL, and if so what version? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Andre Carvalho Bittencourt Sent: Wednesday, August 04, 2010 9:42 AM To: aria-users at lists.mobilerobots.com Subject: [Aria-users] Building a map with mapper3 Hello, I am currently running in an offboard laptop connected to the robot and laser through serial ports and I am trying to use mapper3 to build a simple map. I followed the 2 attempts explained in the manual a) use arnlServer and MobileEyes to scan the environment and make some scans and then open (Open on robot ) This fails when I try to connect Mapper3 to the robot with the following message 'Robot localhost does not support file operations for this user.Please select another server.' b) use sickLogger to save the scans to a .2d file and then load it using mapper3 This fails when I try to save the .map file with the message: 'An error occurred while saving C:/...' The error messages are not very helpful and I can't realize what am I doing wrong. I can connect to MobileEyes normally, ithe problem only appears with Mapper3. Any turn around? I am running everything in WinXP as administrator. Thanks in advance, -- ______________________ Andr? Carvalho Bittencourt _______________________________________________ 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. Mailing list archives are at http://lists.mobilerobots.com/ -- ______________________ Andr? Carvalho Bittencourt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100811/ea577028/attachment-0001.html From mjohnson at ihmc.us Thu Aug 12 00:05:35 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Wed, 11 Aug 2010 23:05:35 -0500 Subject: [Aria-users] Mobile Sim Odometry Error Message-ID: <000001cb39d3$9e80b970$db822c50$@us> Does Mobile SIm add include some odometry error in the simulation? If so, is there a way to vary it? Matt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100811/b32924eb/attachment.html From annalisamilella at libero.it Thu Aug 12 03:02:12 2010 From: annalisamilella at libero.it (annalisamilella at libero.it) Date: Thu, 12 Aug 2010 09:02:12 +0200 (CEST) Subject: [Aria-users] R: Re: R: Re: problem with Debian Linux 4.1 libraries for ARNL Message-ID: <1238115.1268281281596532707.JavaMail.defaultUser@defaultHost> Hi Reed, the problem has not been solved yet. Annalisa >----Messaggio originale---- >Da: Reed.Hedges at Adept.com >Data: 11/08/2010 17.05 >A: "aria-users" >Ogg: Re: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries for ARNL > > >Have you had any luck with this? Sorry for the delay, but I may be able to test this later today. > > >> -----Original Message----- >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >> bounces at lists.mobilerobots.com] On Behalf Of annalisamilella at libero.it >> Sent: Wednesday, August 04, 2010 11:07 AM >> To: aria-users at lists.mobilerobots.com >> Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries >> for ARNL >> >> Hi Reed, >> >> we are using Ubuntu 10.04. We tried to run arnlServer as provided by >> the >> debian package. >> >> >> Annalisa >> >> >----Messaggio originale---- >> >Da: Reed.Hedges at Adept.com >> >Data: 04/08/2010 15.52 >> >A: "Help, discussion and announcements for MobileRobots' Advanced >> Robot >> > Interface for Applications (ARIA) "> users at lists.mobilerobots.com> >> >Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL >> > >> > >> >Hello, >> > >> >What version of Linux are you running ARNL on? Did you compile >> anything >> after installing it, or are you running arnlServer as provided by the >> debian >> package? >> > >> > >> > >> >> -----Original Message----- >> >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >> >> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella >> >> Sent: Tuesday, August 03, 2010 4:00 AM >> >> To: aria-users at lists.mobilerobots.com >> >> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for >> ARNL >> >> >> >> Hi, >> >> >> >> we have a problem with Debian Linux 4.1 libraries for ARNL. When we >> try >> >> to execute arnlServer from ARNL examples, we get the following error >> >> message: >> >> lms2xx_1: waiting for laser to power on. >> >> Aria: Received signal 'SIGSEGV'. Exiting. >> >> Disconnecting from robot. >> >> >> >> We also get the following error, if we try to run sickLogger: >> >> Loaded robot parameters from p3at.p >> >> Stabilizing gyro >> >> ArLaserConnector: Using robot params for connecting to laser >> >> ArLaserLogger: Apparently there are no readings... >> >> laser: waiting for laser to power on. >> >> Aria: Received signal 'SIGSEGV'. Exiting. >> >> Disconnecting from robot. >> >> >> >> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work >> >> correctly instead. >> >> >> >> Do you have any suggestion to solve the problem? >> >> Thanks. >> >> >> >> Annalisa >> >> >> >> _______________________________________________ >> >> 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. >> >> >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >_______________________________________________ >> >Aria-users mailing list >> >Aria-users at lists.mobilerobots.com >> >http://lists.mobilerobots.com/mailman/listinfo/aria-users >> > >> >To unsubscribe visit the above webpage or send an e-mail to: >> > >> >aria-users-leave at lists.mobilerobots.com >> > >> >Visit http://robots.mobilerobots.com for information including >> documentation, >> FAQ, tips, manuals, and software, firmware and driver downloads. >> > >> >Mailing list archives are at http://lists.mobilerobots.com/ >> > >> >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >_______________________________________________ >Aria-users mailing list >Aria-users at lists.mobilerobots.com >http://lists.mobilerobots.com/mailman/listinfo/aria-users > >To unsubscribe visit the above webpage or send an e-mail to: > >aria-users-leave at lists.mobilerobots.com > >Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > >Mailing list archives are at http://lists.mobilerobots.com/ > From mjohnson at ihmc.us Thu Aug 12 09:37:31 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Thu, 12 Aug 2010 08:37:31 -0500 Subject: [Aria-users] Path Planning in Windows Message-ID: <000401cb3a23$83eb8db0$8bc2a910$@us> Has the SONARNL stuff been tested on Windows? It works on my robots running Linux, but does not when I run simulated robots (MobileSim) on Windows. I am using Java 1.6 and Aria 2.5.1. And get the following: Starting BW4Trobot ariarobot with args ariarobot initialize USING GYRO Dectivating gyro ariarobot set args AriaRobot: using sim AriaRobot: using map BW4T_local.map AriaRobot: on host:port = localhost:8101 starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) sim should be up... Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Using default parameters for a p3dx robot Will use config file: "params/sonarnl.p" Loading config file... ariarobot run robot using map BW4T_local.map GYRO is NOT activated at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) path planning state = NOT_STARTED using planner...Thread[Thread-2,5,main] map = BW4T_local.map Loaded map file 'BW4T_local.map' plan res = 637.5 Path Planning to pose (4000 2000) Bad grid lengths Bad grid lengths Bad from and/or to points for plan PlanAndSetupAction: No path from Current 0 0 0 to Goal 4000 2000 0 Goal Failed: 4000 2000 path planning state = FAILED_PLAN Matt -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/1bf56b2f/attachment.html From Reed.Hedges at Adept.com Thu Aug 12 10:55:41 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 12 Aug 2010 07:55:41 -0700 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <000401cb3a23$83eb8db0$8bc2a910$@us> References: <000401cb3a23$83eb8db0$8bc2a910$@us> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> Yes, SONARNL should work in Windows, though I don't remember what exactly I did to test it with Java. What specifically is the problem? Can I check the map to see where those positions are? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson Sent: Thursday, August 12, 2010 9:38 AM To: ariausers Subject: [Aria-users] Path Planning in Windows Has the SONARNL stuff been tested on Windows? It works on my robots running Linux, but does not when I run simulated robots (MobileSim) on Windows. I am using Java 1.6 and Aria 2.5.1. And get the following: Starting BW4Trobot ariarobot with args ariarobot initialize USING GYRO Dectivating gyro ariarobot set args AriaRobot: using sim AriaRobot: using map BW4T_local.map AriaRobot: on host:port = localhost:8101 starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) sim should be up... Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Using default parameters for a p3dx robot Will use config file: "params/sonarnl.p" Loading config file... ariarobot run robot using map BW4T_local.map GYRO is NOT activated at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) path planning state = NOT_STARTED using planner...Thread[Thread-2,5,main] map = BW4T_local.map Loaded map file 'BW4T_local.map' plan res = 637.5 Path Planning to pose (4000 2000) Bad grid lengths Bad grid lengths Bad from and/or to points for plan PlanAndSetupAction: No path from Current 0 0 0 to Goal 4000 2000 0 Goal Failed: 4000 2000 path planning state = FAILED_PLAN Matt -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 9506 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/1a9e2d6f/attachment-0001.bin From Reed.Hedges at Adept.com Thu Aug 12 10:57:58 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 12 Aug 2010 07:57:58 -0700 Subject: [Aria-users] Mobile Sim Odometry Error In-Reply-To: <000001cb39d3$9e80b970$db822c50$@us> References: <000001cb39d3$9e80b970$db822c50$@us> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F048454A8@SRV-APP-6.adept.local> Yes. The amount of error added is specified in the model definition, in the PioneerRobotModels.world.inc file in the MobileSim directory. You can either just change it there, or you can define a new robot model that overrides the odometry error. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson Sent: Thursday, August 12, 2010 12:06 AM To: ariausers Subject: [Aria-users] Mobile Sim Odometry Error Does Mobile SIm add include some odometry error in the simulation? If so, is there a way to vary it? Matt -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 6423 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/5ccc8db6/attachment.bin From mjohnson at ihmc.us Thu Aug 12 11:01:11 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Thu, 12 Aug 2010 10:01:11 -0500 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> Message-ID: <004f01cb3a2f$341534b0$9c3f9e10$@us> The problem is that it never finds a path (FAILED_PLAN). The map is very basic. The robot starts at (8,2). The location (4,2) should be half way to the wall with no obstructions. I have attached the map is you care to try it. Matt From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Thursday, August 12, 2010 9:56 AM To: ariausers Subject: Re: [Aria-users] Path Planning in Windows Yes, SONARNL should work in Windows, though I don't remember what exactly I did to test it with Java. What specifically is the problem? Can I check the map to see where those positions are? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson Sent: Thursday, August 12, 2010 9:38 AM To: ariausers Subject: [Aria-users] Path Planning in Windows Has the SONARNL stuff been tested on Windows? It works on my robots running Linux, but does not when I run simulated robots (MobileSim) on Windows. I am using Java 1.6 and Aria 2.5.1. And get the following: Starting BW4Trobot ariarobot with args ariarobot initialize USING GYRO Dectivating gyro ariarobot set args AriaRobot: using sim AriaRobot: using map BW4T_local.map AriaRobot: on host:port = localhost:8101 starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) sim should be up... Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Using default parameters for a p3dx robot Will use config file: "params/sonarnl.p" Loading config file... ariarobot run robot using map BW4T_local.map GYRO is NOT activated at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) path planning state = NOT_STARTED using planner...Thread[Thread-2,5,main] map = BW4T_local.map Loaded map file 'BW4T_local.map' plan res = 637.5 Path Planning to pose (4000 2000) Bad grid lengths Bad grid lengths Bad from and/or to points for plan PlanAndSetupAction: No path from Current 0 0 0 to Goal 4000 2000 0 Goal Failed: 4000 2000 path planning state = FAILED_PLAN Matt -------------- next part -------------- A non-text attachment was scrubbed... Name: not available Type: text/rtf Size: 27374 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/6ccd2b5d/attachment-0001.bin -------------- next part -------------- A non-text attachment was scrubbed... Name: BW4T_local.map Type: application/octet-stream Size: 1686 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/6ccd2b5d/attachment-0001.obj From Reed.Hedges at Adept.com Thu Aug 12 11:04:25 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 12 Aug 2010 08:04:25 -0700 Subject: [Aria-users] ArRobot sync tasks too long.... In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B0@SRV-APP-6.adept.local> Are you using any of your own actions or task callbacks (user tasks or sensor interpretation tasks)? If so, make sure that these aren?t doing anything that could make the task cycle take longer than 100ms. Another thing that can make the task cycle take too long is another thread holding a lock on ArRobot and possibly other objects used by the task cycle for too long. (It?s also possible for the computer to just be so loaded that everything takes too long, you would probably notice this though.) How long does it say the task cycle is taking? This warning does happen a bit more often on Windows than on Linux, I don?t know why exactly yet but it?s only occasional. Are you on Windows or Linux? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Bruno Maeda Sent: Thursday, August 05, 2010 7:11 AM To: aria-users at mobilerobots.com Subject: [Aria-users] ArRobot sync tasks too long.... When I'm simulating my program at MobileSim, It keeps on receiveing this message all the time... Is this a problem is better to solve? How can I do that? I also receive similar messages (lot less often) about task Packet Handler and ArRobot cycle... thanks. ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/a7c3cbf6/attachment.html From Reed.Hedges at Adept.com Thu Aug 12 11:14:21 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 12 Aug 2010 08:14:21 -0700 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <004f01cb3a2f$341534b0$9c3f9e10$@us> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> Does your program do an initial localization after loading the map, usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() function is used. This will check home points as well as the current robot pose, and put the robot at the pose with the best localization score. Until this initial localization happens localization will always fail. I'll try to find out more about what exactly causes the Bad Grid Lengths message. (Not loading a map is one cause, but it looks like that's happening OK in your program?) Reed > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Thursday, August 12, 2010 11:01 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > The problem is that it never finds a path (FAILED_PLAN). The map is > very basic. The robot starts at (8,2). The location (4,2) should be > half way to the wall with no obstructions. I have attached the map is > you care to try it. > > > > Matt > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 9:56 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > > Yes, SONARNL should work in Windows, though I don't remember what > exactly I did to test it with Java. > > > > What specifically is the problem? Can I check the map to see where > those positions are? > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew > Johnson > Sent: Thursday, August 12, 2010 9:38 AM > To: ariausers > Subject: [Aria-users] Path Planning in Windows > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > running Linux, but does not when I run simulated robots (MobileSim) on > Windows. > > > > I am using Java 1.6 and Aria 2.5.1. > > > > And get the following: > > Starting BW4Trobot > > ariarobot with args > > ariarobot initialize > > USING GYRO > > Dectivating gyro > > ariarobot set args > > AriaRobot: using sim > > AriaRobot: using map BW4T_local.map > > AriaRobot: on host:port = localhost:8101 > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > sim should be up... > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: MobileSim > > Type: Pioneer > > Subtype: p3dx > > Using default parameters for a p3dx robot > > Will use config file: "params/sonarnl.p" > > Loading config file... > > ariarobot run robot > > using map BW4T_local.map > > GYRO is NOT activated > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > path planning state = NOT_STARTED > > using planner...Thread[Thread-2,5,main] > > map = BW4T_local.map > > Loaded map file 'BW4T_local.map' > > plan res = 637.5 > > Path Planning to pose (4000 2000) > > Bad grid lengths > > Bad grid lengths > > Bad from and/or to points for plan > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > 4000 > 2000 0 > > Goal Failed: 4000 2000 > > path planning state = FAILED_PLAN > > > > Matt > -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5518 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/fe7161db/attachment.bin From budsbd at gmail.com Thu Aug 12 11:19:31 2010 From: budsbd at gmail.com (Pedro d'Aquino) Date: Thu, 12 Aug 2010 12:19:31 -0300 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> Message-ID: I can attest that SONARNL works just fine on Windows. On Thu, Aug 12, 2010 at 12:14 PM, Reed Hedges wrote: > > Does your program do an initial localization after loading the map, usually > the ArSonarLocalizationask::localieRobotAtHomeBlocking() function is used. > This will check home points as well as the current robot pose, and put the > robot at the pose with the best localization score. Until this initial > localization happens localization will always fail. > > I'll try to find out more about what exactly causes the Bad Grid Lengths > message. (Not loading a map is one cause, but it looks like that's > happening OK in your program?) > > Reed > > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > Sent: Thursday, August 12, 2010 11:01 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > The problem is that it never finds a path (FAILED_PLAN). The map is > > very basic. The robot starts at (8,2). The location (4,2) should be > > half way to the wall with no obstructions. I have attached the map is > > you care to try it. > > > > > > > > Matt > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > > Hedges > > Sent: Thursday, August 12, 2010 9:56 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > > > Yes, SONARNL should work in Windows, though I don't remember what > > exactly I did to test it with Java. > > > > > > > > What specifically is the problem? Can I check the map to see where > > those positions are? > > > > > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew > > Johnson > > Sent: Thursday, August 12, 2010 9:38 AM > > To: ariausers > > Subject: [Aria-users] Path Planning in Windows > > > > > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > > running Linux, but does not when I run simulated robots (MobileSim) on > > Windows. > > > > > > > > I am using Java 1.6 and Aria 2.5.1. > > > > > > > > And get the following: > > > > Starting BW4Trobot > > > > ariarobot with args > > > > ariarobot initialize > > > > USING GYRO > > > > Dectivating gyro > > > > ariarobot set args > > > > AriaRobot: using sim > > > > AriaRobot: using map BW4T_local.map > > > > AriaRobot: on host:port = localhost:8101 > > > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > sim should be up... > > > > Syncing 0 > > > > Syncing 1 > > > > Syncing 2 > > > > Connected to robot. > > > > Name: MobileSim > > > > Type: Pioneer > > > > Subtype: p3dx > > > > Using default parameters for a p3dx robot > > > > Will use config file: "params/sonarnl.p" > > > > Loading config file... > > > > ariarobot run robot > > > > using map BW4T_local.map > > > > GYRO is NOT activated > > > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > path planning state = NOT_STARTED > > > > using planner...Thread[Thread-2,5,main] > > > > map = BW4T_local.map > > > > Loaded map file 'BW4T_local.map' > > > > plan res = 637.5 > > > > Path Planning to pose (4000 2000) > > > > Bad grid lengths > > > > Bad grid lengths > > > > Bad from and/or to points for plan > > > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > > 4000 > > 2000 0 > > > > Goal Failed: 4000 2000 > > > > path planning state = FAILED_PLAN > > > > > > > > Matt > > > > > _______________________________________________ > 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. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100812/f668b909/attachment-0001.html From Reed.Hedges at Adept.com Fri Aug 13 09:52:46 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 13 Aug 2010 06:52:46 -0700 Subject: [Aria-users] R: Re: R: Re: problem with Debian Linux 4.1 libraries for ARNL In-Reply-To: <1238115.1268281281596532707.JavaMail.defaultUser@defaultHost> References: <1238115.1268281281596532707.JavaMail.defaultUser@defaultHost> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845686@SRV-APP-6.adept.local> I've been trying ARNL on Ubuntu 10.4 and haven't seen any problems yet. Make sure you have the etch+gcc4 versions of both libarnl and arnl-base installed. The most recent version of arnl-base is 1.7.2. Both can be downloaded from http://robots.mobilerobots.com/wiki/ARNL,_SONARNL_and_MOGS#Debian_Linux_4.1_or_later_with_GCC_4 I'll let you know if I am able to reproduce the problem on my Ubuntu system at some point. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of annalisamilella at libero.it > Sent: Thursday, August 12, 2010 3:02 AM > To: ariausers > Subject: [Aria-users] R: Re: R: Re: problem with Debian Linux 4.1 > libraries for ARNL > > Hi Reed, > the problem has not been solved yet. > > Annalisa > > > > >----Messaggio originale---- > >Da: Reed.Hedges at Adept.com > >Data: 11/08/2010 17.05 > >A: "aria-users" > >Ogg: Re: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries > for > ARNL > > > > > >Have you had any luck with this? Sorry for the delay, but I may be > able to > test this later today. > > > > > >> -----Original Message----- > >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > >> bounces at lists.mobilerobots.com] On Behalf Of > annalisamilella at libero.it > >> Sent: Wednesday, August 04, 2010 11:07 AM > >> To: aria-users at lists.mobilerobots.com > >> Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries > >> for ARNL > >> > >> Hi Reed, > >> > >> we are using Ubuntu 10.04. We tried to run arnlServer as provided > by > >> the > >> debian package. > >> > >> > >> Annalisa > >> > >> >----Messaggio originale---- > >> >Da: Reed.Hedges at Adept.com > >> >Data: 04/08/2010 15.52 > >> >A: "Help, discussion and announcements for MobileRobots' Advanced > >> Robot > >> > Interface for Applications (ARIA) " >> users at lists.mobilerobots.com> > >> >Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for > ARNL > >> > > >> > > >> >Hello, > >> > > >> >What version of Linux are you running ARNL on? Did you compile > >> anything > >> after installing it, or are you running arnlServer as provided by > the > >> debian > >> package? > >> > > >> > > >> > > >> >> -----Original Message----- > >> >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria- > users- > >> >> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella > >> >> Sent: Tuesday, August 03, 2010 4:00 AM > >> >> To: aria-users at lists.mobilerobots.com > >> >> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for > >> ARNL > >> >> > >> >> Hi, > >> >> > >> >> we have a problem with Debian Linux 4.1 libraries for ARNL. When > we > >> try > >> >> to execute arnlServer from ARNL examples, we get the following > error > >> >> message: > >> >> lms2xx_1: waiting for laser to power on. > >> >> Aria: Received signal 'SIGSEGV'. Exiting. > >> >> Disconnecting from robot. > >> >> > >> >> We also get the following error, if we try to run sickLogger: > >> >> Loaded robot parameters from p3at.p > >> >> Stabilizing gyro > >> >> ArLaserConnector: Using robot params for connecting to laser > >> >> ArLaserLogger: Apparently there are no readings... > >> >> laser: waiting for laser to power on. > >> >> Aria: Received signal 'SIGSEGV'. Exiting. > >> >> Disconnecting from robot. > >> >> > >> >> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work > >> >> correctly instead. > >> >> > >> >> Do you have any suggestion to solve the problem? > >> >> Thanks. > >> >> > >> >> Annalisa > >> >> > >> >> _______________________________________________ > >> >> 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. > >> >> > >> >> Mailing list archives are at http://lists.mobilerobots.com/ > >> >_______________________________________________ > >> >Aria-users mailing list > >> >Aria-users at lists.mobilerobots.com > >> >http://lists.mobilerobots.com/mailman/listinfo/aria-users > >> > > >> >To unsubscribe visit the above webpage or send an e-mail to: > >> > > >> >aria-users-leave at lists.mobilerobots.com > >> > > >> >Visit http://robots.mobilerobots.com for information including > >> documentation, > >> FAQ, tips, manuals, and software, firmware and driver downloads. > >> > > >> >Mailing list archives are at http://lists.mobilerobots.com/ > >> > > >> > >> > >> _______________________________________________ > >> Aria-users mailing list > >> Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > >> > >> To unsubscribe visit the above webpage or send an e-mail to: > >> > >> aria-users-leave at lists.mobilerobots.com > >> > >> Visit http://robots.mobilerobots.com for information including > >> documentation, FAQ, tips, manuals, and software, firmware and driver > >> downloads. > >> > >> Mailing list archives are at http://lists.mobilerobots.com/ > >_______________________________________________ > >Aria-users mailing list > >Aria-users at lists.mobilerobots.com > >http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > >To unsubscribe visit the above webpage or send an e-mail to: > > > >aria-users-leave at lists.mobilerobots.com > > > >Visit http://robots.mobilerobots.com for information including > documentation, > FAQ, tips, manuals, and software, firmware and driver downloads. > > > >Mailing list archives are at http://lists.mobilerobots.com/ > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 6208 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100813/a82f336e/attachment.bin From stfox88 at gmail.com Fri Aug 13 12:46:13 2010 From: stfox88 at gmail.com (Stephen Fox) Date: Fri, 13 Aug 2010 12:46:13 -0400 Subject: [Aria-users] R: Re: R: Re: problem with Debian Linux 4.1 libraries for ARNL In-Reply-To: <1238115.1268281281596532707.JavaMail.defaultUser@defaultHost> References: <1238115.1268281281596532707.JavaMail.defaultUser@defaultHost> Message-ID: <4C6576D5.9030603@gmail.com> Annalisa- Try downloading the tar.gz file and installing using make install instead. Don't forget to add the libraries to your /etc/ld.so.conf file On 08/12/2010 03:02 AM, annalisamilella at libero.it wrote: > Hi Reed, > the problem has not been solved yet. > > Annalisa > > > > >> ----Messaggio originale---- >> Da: Reed.Hedges at Adept.com >> Data: 11/08/2010 17.05 >> A: "aria-users" >> Ogg: Re: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries for >> > ARNL > >> >> Have you had any luck with this? Sorry for the delay, but I may be able to >> > test this later today. > >> >> >>> -----Original Message----- >>> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >>> bounces at lists.mobilerobots.com] On Behalf Of annalisamilella at libero.it >>> Sent: Wednesday, August 04, 2010 11:07 AM >>> To: aria-users at lists.mobilerobots.com >>> Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries >>> for ARNL >>> >>> Hi Reed, >>> >>> we are using Ubuntu 10.04. We tried to run arnlServer as provided by >>> the >>> debian package. >>> >>> >>> Annalisa >>> >>> >>>> ----Messaggio originale---- >>>> Da: Reed.Hedges at Adept.com >>>> Data: 04/08/2010 15.52 >>>> A: "Help, discussion and announcements for MobileRobots' Advanced >>>> >>> Robot >>> >>>> Interface for Applications (ARIA) ">>> >>> users at lists.mobilerobots.com> >>> >>>> Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for ARNL >>>> >>>> >>>> Hello, >>>> >>>> What version of Linux are you running ARNL on? Did you compile >>>> >>> anything >>> after installing it, or are you running arnlServer as provided by the >>> debian >>> package? >>> >>>> >>>> >>>> >>>>> -----Original Message----- >>>>> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >>>>> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella >>>>> Sent: Tuesday, August 03, 2010 4:00 AM >>>>> To: aria-users at lists.mobilerobots.com >>>>> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for >>>>> >>> ARNL >>> >>>>> Hi, >>>>> >>>>> we have a problem with Debian Linux 4.1 libraries for ARNL. When we >>>>> >>> try >>> >>>>> to execute arnlServer from ARNL examples, we get the following error >>>>> message: >>>>> lms2xx_1: waiting for laser to power on. >>>>> Aria: Received signal 'SIGSEGV'. Exiting. >>>>> Disconnecting from robot. >>>>> >>>>> We also get the following error, if we try to run sickLogger: >>>>> Loaded robot parameters from p3at.p >>>>> Stabilizing gyro >>>>> ArLaserConnector: Using robot params for connecting to laser >>>>> ArLaserLogger: Apparently there are no readings... >>>>> laser: waiting for laser to power on. >>>>> Aria: Received signal 'SIGSEGV'. Exiting. >>>>> Disconnecting from robot. >>>>> >>>>> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work >>>>> correctly instead. >>>>> >>>>> Do you have any suggestion to solve the problem? >>>>> Thanks. >>>>> >>>>> Annalisa >>>>> >>>>> _______________________________________________ >>>>> 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. >>>>> >>>>> Mailing list archives are at http://lists.mobilerobots.com/ >>>>> >>>> _______________________________________________ >>>> Aria-users mailing list >>>> Aria-users at lists.mobilerobots.com >>>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>>> >>>> To unsubscribe visit the above webpage or send an e-mail to: >>>> >>>> aria-users-leave at lists.mobilerobots.com >>>> >>>> Visit http://robots.mobilerobots.com for information including >>>> >>> documentation, >>> FAQ, tips, manuals, and software, firmware and driver downloads. >>> >>>> Mailing list archives are at http://lists.mobilerobots.com/ >>>> >>>> >>> >>> _______________________________________________ >>> Aria-users mailing list >>> Aria-users at lists.mobilerobots.com >>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>> >>> To unsubscribe visit the above webpage or send an e-mail to: >>> >>> aria-users-leave at lists.mobilerobots.com >>> >>> Visit http://robots.mobilerobots.com for information including >>> documentation, FAQ, tips, manuals, and software, firmware and driver >>> downloads. >>> >>> Mailing list archives are at http://lists.mobilerobots.com/ >>> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including documentation, >> > FAQ, tips, manuals, and software, firmware and driver downloads. > >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > From Reed.Hedges at Adept.com Fri Aug 13 15:50:03 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 13 Aug 2010 12:50:03 -0700 Subject: [Aria-users] FW: R: Re: R: Re: problem with Debian Linux 4.1 libraries for ARNL Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0484577A@SRV-APP-6.adept.local> I've been trying ARNL on Ubuntu 10.4 and haven't seen any problems yet. Make sure you have the etch+gcc4 versions of both libarnl and arnl-base installed. The most recent version of arnl-base is 1.7.2. Both can be downloaded from http://robots.mobilerobots.com/wiki/ARNL,_SONARNL_and_MOGS#Debian_Linux_4.1_or_later_with_GCC_4 I'll let you know if I am able to reproduce the problem on my Ubuntu system at some point. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of annalisamilella at libero.it > Sent: Thursday, August 12, 2010 3:02 AM > To: ariausers > Subject: [Aria-users] R: Re: R: Re: problem with Debian Linux 4.1 > libraries for ARNL > > Hi Reed, > the problem has not been solved yet. > > Annalisa > > > > >----Messaggio originale---- > >Da: Reed.Hedges at Adept.com > >Data: 11/08/2010 17.05 > >A: "aria-users" > >Ogg: Re: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries > for > ARNL > > > > > >Have you had any luck with this? Sorry for the delay, but I may be > able to > test this later today. > > > > > >> -----Original Message----- > >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > >> bounces at lists.mobilerobots.com] On Behalf Of > annalisamilella at libero.it > >> Sent: Wednesday, August 04, 2010 11:07 AM > >> To: aria-users at lists.mobilerobots.com > >> Subject: [Aria-users] R: Re: problem with Debian Linux 4.1 libraries > >> for ARNL > >> > >> Hi Reed, > >> > >> we are using Ubuntu 10.04. We tried to run arnlServer as provided > by > >> the > >> debian package. > >> > >> > >> Annalisa > >> > >> >----Messaggio originale---- > >> >Da: Reed.Hedges at Adept.com > >> >Data: 04/08/2010 15.52 > >> >A: "Help, discussion and announcements for MobileRobots' Advanced > >> Robot > >> > Interface for Applications (ARIA) " >> users at lists.mobilerobots.com> > >> >Ogg: Re: [Aria-users] problem with Debian Linux 4.1 libraries for > ARNL > >> > > >> > > >> >Hello, > >> > > >> >What version of Linux are you running ARNL on? Did you compile > >> anything > >> after installing it, or are you running arnlServer as provided by > the > >> debian > >> package? > >> > > >> > > >> > > >> >> -----Original Message----- > >> >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria- > users- > >> >> bounces at lists.mobilerobots.com] On Behalf Of Annalisa Milella > >> >> Sent: Tuesday, August 03, 2010 4:00 AM > >> >> To: aria-users at lists.mobilerobots.com > >> >> Subject: [Aria-users] problem with Debian Linux 4.1 libraries for > >> ARNL > >> >> > >> >> Hi, > >> >> > >> >> we have a problem with Debian Linux 4.1 libraries for ARNL. When > we > >> try > >> >> to execute arnlServer from ARNL examples, we get the following > error > >> >> message: > >> >> lms2xx_1: waiting for laser to power on. > >> >> Aria: Received signal 'SIGSEGV'. Exiting. > >> >> Disconnecting from robot. > >> >> > >> >> We also get the following error, if we try to run sickLogger: > >> >> Loaded robot parameters from p3at.p > >> >> Stabilizing gyro > >> >> ArLaserConnector: Using robot params for connecting to laser > >> >> ArLaserLogger: Apparently there are no readings... > >> >> laser: waiting for laser to power on. > >> >> Aria: Received signal 'SIGSEGV'. Exiting. > >> >> Disconnecting from robot. > >> >> > >> >> All the examples in ARIA (ARIA 2.7.2), including sickLogger, work > >> >> correctly instead. > >> >> > >> >> Do you have any suggestion to solve the problem? > >> >> Thanks. > >> >> > >> >> Annalisa > >> >> > >> >> _______________________________________________ > >> >> 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. > >> >> > >> >> Mailing list archives are at http://lists.mobilerobots.com/ > >> >_______________________________________________ > >> >Aria-users mailing list > >> >Aria-users at lists.mobilerobots.com > >> >http://lists.mobilerobots.com/mailman/listinfo/aria-users > >> > > >> >To unsubscribe visit the above webpage or send an e-mail to: > >> > > >> >aria-users-leave at lists.mobilerobots.com > >> > > >> >Visit http://robots.mobilerobots.com for information including > >> documentation, > >> FAQ, tips, manuals, and software, firmware and driver downloads. > >> > > >> >Mailing list archives are at http://lists.mobilerobots.com/ > >> > > >> > >> > >> _______________________________________________ > >> Aria-users mailing list > >> Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > >> > >> To unsubscribe visit the above webpage or send an e-mail to: > >> > >> aria-users-leave at lists.mobilerobots.com > >> > >> Visit http://robots.mobilerobots.com for information including > >> documentation, FAQ, tips, manuals, and software, firmware and driver > >> downloads. > >> > >> Mailing list archives are at http://lists.mobilerobots.com/ > >_______________________________________________ > >Aria-users mailing list > >Aria-users at lists.mobilerobots.com > >http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > >To unsubscribe visit the above webpage or send an e-mail to: > > > >aria-users-leave at lists.mobilerobots.com > > > >Visit http://robots.mobilerobots.com for information including > documentation, > FAQ, tips, manuals, and software, firmware and driver downloads. > > > >Mailing list archives are at http://lists.mobilerobots.com/ > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5956 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100813/c3b8a30e/attachment-0001.bin From mjohnson at ihmc.us Mon Aug 16 09:14:32 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Mon, 16 Aug 2010 08:14:32 -0500 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> Message-ID: <000c01cb3d44$f7f10770$e7d31650$@us> Reed, No. I apparently did not use localization originally, just path planning. However, the path planning did work on my Pioneer 3AT running Linux. I tried to add the localization initialization as you suggest and it still fails saying "No lines in map" (see below). However, the map loads fine in MobileSim and clearly has lines. Starting BW4Trobot ariarobot with args ariarobot initialize USING GYRO Dectivating gyro ariarobot set args AriaRobot: using sim AriaRobot: using map ./bin/MobileSim/BW4T_local.map AriaRobot: on host:port = localhost:8101 starting MobileSim -m ./bin/MobileSim/BW4T_local.map resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) sim should be up... Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Using default parameters for a p3dx robot Will use config file: "params/sonarnl.p" Loading config file... ariarobot run robot using map ./bin/MobileSim/BW4T_local.map Loaded map file './bin/MobileSim/BW4T_local.map' Cannot localize in a map with zero lines! ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work result=false Matt -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Thursday, August 12, 2010 10:14 AM To: ariausers Subject: Re: [Aria-users] Path Planning in Windows Does your program do an initial localization after loading the map, usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() function is used. This will check home points as well as the current robot pose, and put the robot at the pose with the best localization score. Until this initial localization happens localization will always fail. I'll try to find out more about what exactly causes the Bad Grid Lengths message. (Not loading a map is one cause, but it looks like that's happening OK in your program?) Reed > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Thursday, August 12, 2010 11:01 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > The problem is that it never finds a path (FAILED_PLAN). The map is > very basic. The robot starts at (8,2). The location (4,2) should be > half way to the wall with no obstructions. I have attached the map is > you care to try it. > > > > Matt > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 9:56 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > > Yes, SONARNL should work in Windows, though I don't remember what > exactly I did to test it with Java. > > > > What specifically is the problem? Can I check the map to see where > those positions are? > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > Matthew Johnson > Sent: Thursday, August 12, 2010 9:38 AM > To: ariausers > Subject: [Aria-users] Path Planning in Windows > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > running Linux, but does not when I run simulated robots (MobileSim) on > Windows. > > > > I am using Java 1.6 and Aria 2.5.1. > > > > And get the following: > > Starting BW4Trobot > > ariarobot with args > > ariarobot initialize > > USING GYRO > > Dectivating gyro > > ariarobot set args > > AriaRobot: using sim > > AriaRobot: using map BW4T_local.map > > AriaRobot: on host:port = localhost:8101 > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > sim should be up... > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: MobileSim > > Type: Pioneer > > Subtype: p3dx > > Using default parameters for a p3dx robot > > Will use config file: "params/sonarnl.p" > > Loading config file... > > ariarobot run robot > > using map BW4T_local.map > > GYRO is NOT activated > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > path planning state = NOT_STARTED > > using planner...Thread[Thread-2,5,main] > > map = BW4T_local.map > > Loaded map file 'BW4T_local.map' > > plan res = 637.5 > > Path Planning to pose (4000 2000) > > Bad grid lengths > > Bad grid lengths > > Bad from and/or to points for plan > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > 4000 > 2000 0 > > Goal Failed: 4000 2000 > > path planning state = FAILED_PLAN > > > > Matt > -------------- next part -------------- A non-text attachment was scrubbed... Name: BW4T_local.map Type: application/octet-stream Size: 1612 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100816/296b69fa/attachment.obj From Reed.Hedges at Adept.com Mon Aug 16 10:39:22 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 16 Aug 2010 07:39:22 -0700 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <000c01cb3d44$f7f10770$e7d31650$@us> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> <000c01cb3d44$f7f10770$e7d31650$@us> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> I talked with the main ARNL author. The main reason that "Bad Grid Lengths" message appears is if the localization task does not have a map loaded (or the map it does have doesn't have lines). I would make sure that your localization task object is using the same ArMap object as the one you are loading. Since you are using Java, it may be making some copies of objects that in C++ would be passed by reference (or pointer). I can look at your code if you want. Let me know if you want me to investigate this possibility a bit more. ArSonarLocalizationTask has some methods like getAriaMap() and getMapName() that might help investigate whether it has the right map. Usually it gets its map by providing a reference to the map in the constructor (this is what the example programs do) or by calling the readMapFromFile() or readAriaMap() methods. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Monday, August 16, 2010 9:15 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > Reed, > > No. I apparently did not use localization originally, just path > planning. > However, the path planning did work on my Pioneer 3AT running Linux. > > I tried to add the localization initialization as you suggest and it > still fails saying "No lines in map" (see below). However, the map > loads fine in MobileSim and clearly has lines. > > Starting BW4Trobot > ariarobot with args > ariarobot initialize > USING GYRO > Dectivating gyro > ariarobot set args > AriaRobot: using sim > AriaRobot: using map ./bin/MobileSim/BW4T_local.map > AriaRobot: on host:port = localhost:8101 starting MobileSim -m > ./bin/MobileSim/BW4T_local.map resetting origin to (0.0, 0.0, 0.0, 0.0, > 0.0, 0.0) sim should be up... > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: MobileSim > Type: Pioneer > Subtype: p3dx > Using default parameters for a p3dx robot Will use config file: > "params/sonarnl.p" > Loading config file... > ariarobot run robot > using map ./bin/MobileSim/BW4T_local.map Loaded map file > './bin/MobileSim/BW4T_local.map' > Cannot localize in a map with zero lines! > ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the > map for sonar localization to work result=false > > > > Matt > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 10:14 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > Does your program do an initial localization after loading the map, > usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() > function is used. > This will check home points as well as the current robot pose, and put > the robot at the pose with the best localization score. Until this > initial > localization happens localization will always fail. > > I'll try to find out more about what exactly causes the Bad Grid > Lengths > message. (Not loading a map is one cause, but it looks like that's > happening OK in your program?) > > Reed > > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > Sent: Thursday, August 12, 2010 11:01 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > The problem is that it never finds a path (FAILED_PLAN). The map is > > very basic. The robot starts at (8,2). The location (4,2) should be > > half way to the wall with no obstructions. I have attached the map is > > you care to try it. > > > > > > > > Matt > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > > Hedges > > Sent: Thursday, August 12, 2010 9:56 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > > > Yes, SONARNL should work in Windows, though I don't remember what > > exactly I did to test it with Java. > > > > > > > > What specifically is the problem? Can I check the map to see where > > those positions are? > > > > > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > > Matthew Johnson > > Sent: Thursday, August 12, 2010 9:38 AM > > To: ariausers > > Subject: [Aria-users] Path Planning in Windows > > > > > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > > running Linux, but does not when I run simulated robots (MobileSim) > on > > Windows. > > > > > > > > I am using Java 1.6 and Aria 2.5.1. > > > > > > > > And get the following: > > > > Starting BW4Trobot > > > > ariarobot with args > > > > ariarobot initialize > > > > USING GYRO > > > > Dectivating gyro > > > > ariarobot set args > > > > AriaRobot: using sim > > > > AriaRobot: using map BW4T_local.map > > > > AriaRobot: on host:port = localhost:8101 > > > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > sim should be up... > > > > Syncing 0 > > > > Syncing 1 > > > > Syncing 2 > > > > Connected to robot. > > > > Name: MobileSim > > > > Type: Pioneer > > > > Subtype: p3dx > > > > Using default parameters for a p3dx robot > > > > Will use config file: "params/sonarnl.p" > > > > Loading config file... > > > > ariarobot run robot > > > > using map BW4T_local.map > > > > GYRO is NOT activated > > > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > path planning state = NOT_STARTED > > > > using planner...Thread[Thread-2,5,main] > > > > map = BW4T_local.map > > > > Loaded map file 'BW4T_local.map' > > > > plan res = 637.5 > > > > Path Planning to pose (4000 2000) > > > > Bad grid lengths > > > > Bad grid lengths > > > > Bad from and/or to points for plan > > > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > > 4000 > > 2000 0 > > > > Goal Failed: 4000 2000 > > > > path planning state = FAILED_PLAN > > > > > > > > Matt > > > -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 6990 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100816/39e00260/attachment.bin From mjohnson at ihmc.us Tue Aug 17 09:00:37 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Tue, 17 Aug 2010 08:00:37 -0500 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> <000c01cb3d44$f7f10770$e7d31650$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> Message-ID: <000901cb3e0c$30736670$915a3350$@us> Reed, I tried a few maps using the following code: map = "BW4T_local.map"; System.out.println("using map " + map); ArMap arMap = new ArMap(Aria.getDirectory()); arMap.readFile(map); System.out.println("arMapDir = " + arMap.getBaseDirectory()); System.out.println("arMap = " + arMap.getFileName()); System.out.println("arMap lines= " + arMap.getNumLines()); ArSonarLocalizationTask sonarnl = new ArSonarLocalizationTask(robot, this.sonar, arMap); System.out.println("localization map = " + sonarnl.getAriaMap()); System.out.println("result=" + sonarnl.localizeRobotAtHomeBlocking()); With the following results: Loaded map file 'columbia.map' arMapDir = C:/VCS/robots/bin/MobileSim\ arMap = columbia.map arMap lines= 470 localization map = null ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work result=false Loaded map file 'BW4T_local.map' arMapDir = C:/VCS/robots/bin/MobileSim\ arMap = BW4T_local.map arMap lines= 53 localization map = null ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work result=false It seems the ArMap reads the file fine, but the ArSonarLocalizationTask does not. Either it is not set or the getAriaMap function has a bug. Could you try to get a simple Java path planning task to work with Java on Windows and on any map and send me your example to test? Matt -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Monday, August 16, 2010 9:39 AM To: ariausers Subject: Re: [Aria-users] Path Planning in Windows I talked with the main ARNL author. The main reason that "Bad Grid Lengths" message appears is if the localization task does not have a map loaded (or the map it does have doesn't have lines). I would make sure that your localization task object is using the same ArMap object as the one you are loading. Since you are using Java, it may be making some copies of objects that in C++ would be passed by reference (or pointer). I can look at your code if you want. Let me know if you want me to investigate this possibility a bit more. ArSonarLocalizationTask has some methods like getAriaMap() and getMapName() that might help investigate whether it has the right map. Usually it gets its map by providing a reference to the map in the constructor (this is what the example programs do) or by calling the readMapFromFile() or readAriaMap() methods. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Monday, August 16, 2010 9:15 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > Reed, > > No. I apparently did not use localization originally, just path > planning. > However, the path planning did work on my Pioneer 3AT running Linux. > > I tried to add the localization initialization as you suggest and it > still fails saying "No lines in map" (see below). However, the map > loads fine in MobileSim and clearly has lines. > > Starting BW4Trobot > ariarobot with args > ariarobot initialize > USING GYRO > Dectivating gyro > ariarobot set args > AriaRobot: using sim > AriaRobot: using map ./bin/MobileSim/BW4T_local.map > AriaRobot: on host:port = localhost:8101 starting MobileSim -m > ./bin/MobileSim/BW4T_local.map resetting origin to (0.0, 0.0, 0.0, > 0.0, 0.0, 0.0) sim should be up... > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: MobileSim > Type: Pioneer > Subtype: p3dx > Using default parameters for a p3dx robot Will use config file: > "params/sonarnl.p" > Loading config file... > ariarobot run robot > using map ./bin/MobileSim/BW4T_local.map Loaded map file > './bin/MobileSim/BW4T_local.map' > Cannot localize in a map with zero lines! > ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the > map for sonar localization to work result=false > > > > Matt > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 10:14 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > Does your program do an initial localization after loading the map, > usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() > function is used. > This will check home points as well as the current robot pose, and put > the robot at the pose with the best localization score. Until this > initial localization happens localization will always fail. > > I'll try to find out more about what exactly causes the Bad Grid > Lengths > message. (Not loading a map is one cause, but it looks like that's > happening OK in your program?) > > Reed > > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > Sent: Thursday, August 12, 2010 11:01 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > The problem is that it never finds a path (FAILED_PLAN). The map is > > very basic. The robot starts at (8,2). The location (4,2) should be > > half way to the wall with no obstructions. I have attached the map > > is you care to try it. > > > > > > > > Matt > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > > Hedges > > Sent: Thursday, August 12, 2010 9:56 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > > > Yes, SONARNL should work in Windows, though I don't remember what > > exactly I did to test it with Java. > > > > > > > > What specifically is the problem? Can I check the map to see where > > those positions are? > > > > > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > > Matthew Johnson > > Sent: Thursday, August 12, 2010 9:38 AM > > To: ariausers > > Subject: [Aria-users] Path Planning in Windows > > > > > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > > running Linux, but does not when I run simulated robots (MobileSim) > on > > Windows. > > > > > > > > I am using Java 1.6 and Aria 2.5.1. > > > > > > > > And get the following: > > > > Starting BW4Trobot > > > > ariarobot with args > > > > ariarobot initialize > > > > USING GYRO > > > > Dectivating gyro > > > > ariarobot set args > > > > AriaRobot: using sim > > > > AriaRobot: using map BW4T_local.map > > > > AriaRobot: on host:port = localhost:8101 > > > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > sim should be up... > > > > Syncing 0 > > > > Syncing 1 > > > > Syncing 2 > > > > Connected to robot. > > > > Name: MobileSim > > > > Type: Pioneer > > > > Subtype: p3dx > > > > Using default parameters for a p3dx robot > > > > Will use config file: "params/sonarnl.p" > > > > Loading config file... > > > > ariarobot run robot > > > > using map BW4T_local.map > > > > GYRO is NOT activated > > > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > path planning state = NOT_STARTED > > > > using planner...Thread[Thread-2,5,main] > > > > map = BW4T_local.map > > > > Loaded map file 'BW4T_local.map' > > > > plan res = 637.5 > > > > Path Planning to pose (4000 2000) > > > > Bad grid lengths > > > > Bad grid lengths > > > > Bad from and/or to points for plan > > > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > > 4000 > > 2000 0 > > > > Goal Failed: 4000 2000 > > > > path planning state = FAILED_PLAN > > > > > > > > Matt > > > From mjohnson at ihmc.us Tue Aug 17 09:11:17 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Tue, 17 Aug 2010 08:11:17 -0500 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> <000c01cb3d44$f7f10770$e7d31650$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> Message-ID: <000a01cb3e0d$ae05e530$0a11af90$@us> Some more info.... I added getMapName: map = "BW4T_local.map"; System.out.println("using map " + map); ArMap arMap = new ArMap(".\\bin\\MobileSim\\"); arMap.readFile(map); System.out.println("arMapDir = " + arMap.getBaseDirectory()); System.out.println("arMap = " + arMap.getFileName()); System.out.println("arMap lines= " + arMap.getNumLines()); ArSonarLocalizationTask sonarnl = new ArSonarLocalizationTask(robot, sonar, arMap); System.out.println("name = " + sonarnl.getMapName()); System.out.println("localization map = " + sonarnl.getAriaMap()); System.out.println("result=" + sonarnl.localizeRobotAtHomeBlocking()); And it looks like the map name gets mangled: using map BW4T_local.map Loaded map file 'BW4T_local.map' arMapDir = .\bin\MobileSim\ arMap = BW4T_local.map arMap lines= 53 name = al.map localization map = null ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work result=false Matt -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Monday, August 16, 2010 9:39 AM To: ariausers Subject: Re: [Aria-users] Path Planning in Windows I talked with the main ARNL author. The main reason that "Bad Grid Lengths" message appears is if the localization task does not have a map loaded (or the map it does have doesn't have lines). I would make sure that your localization task object is using the same ArMap object as the one you are loading. Since you are using Java, it may be making some copies of objects that in C++ would be passed by reference (or pointer). I can look at your code if you want. Let me know if you want me to investigate this possibility a bit more. ArSonarLocalizationTask has some methods like getAriaMap() and getMapName() that might help investigate whether it has the right map. Usually it gets its map by providing a reference to the map in the constructor (this is what the example programs do) or by calling the readMapFromFile() or readAriaMap() methods. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Monday, August 16, 2010 9:15 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > Reed, > > No. I apparently did not use localization originally, just path > planning. > However, the path planning did work on my Pioneer 3AT running Linux. > > I tried to add the localization initialization as you suggest and it > still fails saying "No lines in map" (see below). However, the map > loads fine in MobileSim and clearly has lines. > > Starting BW4Trobot > ariarobot with args > ariarobot initialize > USING GYRO > Dectivating gyro > ariarobot set args > AriaRobot: using sim > AriaRobot: using map ./bin/MobileSim/BW4T_local.map > AriaRobot: on host:port = localhost:8101 starting MobileSim -m > ./bin/MobileSim/BW4T_local.map resetting origin to (0.0, 0.0, 0.0, > 0.0, 0.0, 0.0) sim should be up... > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: MobileSim > Type: Pioneer > Subtype: p3dx > Using default parameters for a p3dx robot Will use config file: > "params/sonarnl.p" > Loading config file... > ariarobot run robot > using map ./bin/MobileSim/BW4T_local.map Loaded map file > './bin/MobileSim/BW4T_local.map' > Cannot localize in a map with zero lines! > ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the > map for sonar localization to work result=false > > > > Matt > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 10:14 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > Does your program do an initial localization after loading the map, > usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() > function is used. > This will check home points as well as the current robot pose, and put > the robot at the pose with the best localization score. Until this > initial localization happens localization will always fail. > > I'll try to find out more about what exactly causes the Bad Grid > Lengths > message. (Not loading a map is one cause, but it looks like that's > happening OK in your program?) > > Reed > > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > Sent: Thursday, August 12, 2010 11:01 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > The problem is that it never finds a path (FAILED_PLAN). The map is > > very basic. The robot starts at (8,2). The location (4,2) should be > > half way to the wall with no obstructions. I have attached the map > > is you care to try it. > > > > > > > > Matt > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > > Hedges > > Sent: Thursday, August 12, 2010 9:56 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > > > Yes, SONARNL should work in Windows, though I don't remember what > > exactly I did to test it with Java. > > > > > > > > What specifically is the problem? Can I check the map to see where > > those positions are? > > > > > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > > Matthew Johnson > > Sent: Thursday, August 12, 2010 9:38 AM > > To: ariausers > > Subject: [Aria-users] Path Planning in Windows > > > > > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > > running Linux, but does not when I run simulated robots (MobileSim) > on > > Windows. > > > > > > > > I am using Java 1.6 and Aria 2.5.1. > > > > > > > > And get the following: > > > > Starting BW4Trobot > > > > ariarobot with args > > > > ariarobot initialize > > > > USING GYRO > > > > Dectivating gyro > > > > ariarobot set args > > > > AriaRobot: using sim > > > > AriaRobot: using map BW4T_local.map > > > > AriaRobot: on host:port = localhost:8101 > > > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > sim should be up... > > > > Syncing 0 > > > > Syncing 1 > > > > Syncing 2 > > > > Connected to robot. > > > > Name: MobileSim > > > > Type: Pioneer > > > > Subtype: p3dx > > > > Using default parameters for a p3dx robot > > > > Will use config file: "params/sonarnl.p" > > > > Loading config file... > > > > ariarobot run robot > > > > using map BW4T_local.map > > > > GYRO is NOT activated > > > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > path planning state = NOT_STARTED > > > > using planner...Thread[Thread-2,5,main] > > > > map = BW4T_local.map > > > > Loaded map file 'BW4T_local.map' > > > > plan res = 637.5 > > > > Path Planning to pose (4000 2000) > > > > Bad grid lengths > > > > Bad grid lengths > > > > Bad from and/or to points for plan > > > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > > 4000 > > 2000 0 > > > > Goal Failed: 4000 2000 > > > > path planning state = FAILED_PLAN > > > > > > > > Matt > > > From James.Neilan at tema.toyota.com Tue Aug 17 10:02:34 2010 From: James.Neilan at tema.toyota.com (James.Neilan at tema.toyota.com) Date: Tue, 17 Aug 2010 10:02:34 -0400 Subject: [Aria-users] James Neilan is out on leave. Message-ID: I will be out of the office starting 08/16/2010 and will not return until 12/16/2010. Please contact Yasuhiro Ota, Earl Gay, or Masayoshi Tsuchinaga. From toshy.maeda at gmail.com Tue Aug 17 12:22:00 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Tue, 17 Aug 2010 13:22:00 -0300 Subject: [Aria-users] Switching Controller to avoid collision Message-ID: Hi, I'm trying to implement a switching controller. First, the robot follows a main policy to walk on the environment, but when close to a wall/obstacle, it must switch to a collision avoidance controller until it's safe to continue, and then switch again to the main policy... How can I do something like that? Thanks. ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100817/abc14c59/attachment.html From Reed.Hedges at Adept.com Tue Aug 17 12:22:30 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 17 Aug 2010 09:22:30 -0700 Subject: [Aria-users] Path Planning in Windows In-Reply-To: <000a01cb3e0d$ae05e530$0a11af90$@us> References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> <000c01cb3d44$f7f10770$e7d31650$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F04845869@SRV-APP-6.adept.local> <000a01cb3e0d$ae05e530$0a11af90$@us> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845ABE@SRV-APP-6.adept.local> Thanks, I'll look into it. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Tuesday, August 17, 2010 9:11 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > Some more info.... > > I added getMapName: > > map = "BW4T_local.map"; > System.out.println("using map " + map); > > ArMap arMap = new ArMap(".\\bin\\MobileSim\\"); > arMap.readFile(map); > System.out.println("arMapDir = " + arMap.getBaseDirectory()); > System.out.println("arMap = " + arMap.getFileName()); > System.out.println("arMap lines= " + arMap.getNumLines()); > > ArSonarLocalizationTask sonarnl = new > ArSonarLocalizationTask(robot, > sonar, arMap); > System.out.println("name = " + sonarnl.getMapName()); > System.out.println("localization map = " + sonarnl.getAriaMap()); > System.out.println("result=" + > sonarnl.localizeRobotAtHomeBlocking()); > > And it looks like the map name gets mangled: > > using map BW4T_local.map > Loaded map file 'BW4T_local.map' > arMapDir = .\bin\MobileSim\ > arMap = BW4T_local.map > arMap lines= 53 > name = al.map > localization map = null > ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the > map > for sonar localization to work > result=false > > Matt > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Monday, August 16, 2010 9:39 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > I talked with the main ARNL author. The main reason that "Bad Grid > Lengths" > message appears is if the localization task does not have a map loaded > (or > the map it does have doesn't have lines). I would make sure that your > localization task object is using the same ArMap object as the one you > are > loading. Since you are using Java, it may be making some copies of > objects > that in C++ would be passed by reference (or pointer). I can look at > your > code if you want. Let me know if you want me to investigate this > possibility > a bit more. > > ArSonarLocalizationTask has some methods like getAriaMap() and > getMapName() > that might help investigate whether it has the right map. > > Usually it gets its map by providing a reference to the map in the > constructor (this is what the example programs do) or by calling the > readMapFromFile() or readAriaMap() methods. > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > Sent: Monday, August 16, 2010 9:15 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > Reed, > > > > No. I apparently did not use localization originally, just path > > planning. > > However, the path planning did work on my Pioneer 3AT running Linux. > > > > I tried to add the localization initialization as you suggest and it > > still fails saying "No lines in map" (see below). However, the map > > loads fine in MobileSim and clearly has lines. > > > > Starting BW4Trobot > > ariarobot with args > > ariarobot initialize > > USING GYRO > > Dectivating gyro > > ariarobot set args > > AriaRobot: using sim > > AriaRobot: using map ./bin/MobileSim/BW4T_local.map > > AriaRobot: on host:port = localhost:8101 starting MobileSim -m > > ./bin/MobileSim/BW4T_local.map resetting origin to (0.0, 0.0, 0.0, > > 0.0, 0.0, 0.0) sim should be up... > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: MobileSim > > Type: Pioneer > > Subtype: p3dx > > Using default parameters for a p3dx robot Will use config file: > > "params/sonarnl.p" > > Loading config file... > > ariarobot run robot > > using map ./bin/MobileSim/BW4T_local.map Loaded map file > > './bin/MobileSim/BW4T_local.map' > > Cannot localize in a map with zero lines! > > ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the > > map for sonar localization to work result=false > > > > > > > > Matt > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > > Hedges > > Sent: Thursday, August 12, 2010 10:14 AM > > To: ariausers > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > Does your program do an initial localization after loading the map, > > usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() > > function is used. > > This will check home points as well as the current robot pose, and > put > > the robot at the pose with the best localization score. Until this > > initial localization happens localization will always fail. > > > > I'll try to find out more about what exactly causes the Bad Grid > > Lengths > > message. (Not loading a map is one cause, but it looks like that's > > happening OK in your program?) > > > > Reed > > > > > > > > > -----Original Message----- > > > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > > > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > > > Sent: Thursday, August 12, 2010 11:01 AM > > > To: ariausers > > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > The problem is that it never finds a path (FAILED_PLAN). The map is > > > very basic. The robot starts at (8,2). The location (4,2) should be > > > half way to the wall with no obstructions. I have attached the map > > > is you care to try it. > > > > > > > > > > > > Matt > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > Reed > > > Hedges > > > Sent: Thursday, August 12, 2010 9:56 AM > > > To: ariausers > > > Subject: Re: [Aria-users] Path Planning in Windows > > > > > > > > > > > > Yes, SONARNL should work in Windows, though I don't remember what > > > exactly I did to test it with Java. > > > > > > > > > > > > What specifically is the problem? Can I check the map to see where > > > those positions are? > > > > > > > > > > > > > > > > > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > > > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of > > > Matthew Johnson > > > Sent: Thursday, August 12, 2010 9:38 AM > > > To: ariausers > > > Subject: [Aria-users] Path Planning in Windows > > > > > > > > > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > > > running Linux, but does not when I run simulated robots (MobileSim) > > on > > > Windows. > > > > > > > > > > > > I am using Java 1.6 and Aria 2.5.1. > > > > > > > > > > > > And get the following: > > > > > > Starting BW4Trobot > > > > > > ariarobot with args > > > > > > ariarobot initialize > > > > > > USING GYRO > > > > > > Dectivating gyro > > > > > > ariarobot set args > > > > > > AriaRobot: using sim > > > > > > AriaRobot: using map BW4T_local.map > > > > > > AriaRobot: on host:port = localhost:8101 > > > > > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > > > > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > > > sim should be up... > > > > > > Syncing 0 > > > > > > Syncing 1 > > > > > > Syncing 2 > > > > > > Connected to robot. > > > > > > Name: MobileSim > > > > > > Type: Pioneer > > > > > > Subtype: p3dx > > > > > > Using default parameters for a p3dx robot > > > > > > Will use config file: "params/sonarnl.p" > > > > > > Loading config file... > > > > > > ariarobot run robot > > > > > > using map BW4T_local.map > > > > > > GYRO is NOT activated > > > > > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > > > > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > > > > > path planning state = NOT_STARTED > > > > > > using planner...Thread[Thread-2,5,main] > > > > > > map = BW4T_local.map > > > > > > Loaded map file 'BW4T_local.map' > > > > > > plan res = 637.5 > > > > > > Path Planning to pose (4000 2000) > > > > > > Bad grid lengths > > > > > > Bad grid lengths > > > > > > Bad from and/or to points for plan > > > > > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > > > 4000 > > > 2000 0 > > > > > > Goal Failed: 4000 2000 > > > > > > path planning state = FAILED_PLAN > > > > > > > > > > > > Matt > > > > > > > > > > _______________________________________________ > 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. > > Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 8002 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100817/6b71918e/attachment-0001.bin From toshy.maeda at gmail.com Tue Aug 17 13:06:17 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Tue, 17 Aug 2010 14:06:17 -0300 Subject: [Aria-users] ArRobot sync tasks too long.... In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B0@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B0@SRV-APP-6.adept.local> Message-ID: I implemented my own Action... here is the code: Is there a way I can do it better then the way is now? This works, but it seems to take to long time. thanks. void MyAction::executeAction() { if(this->deltaHeading != 0.0) { // sets the delta heading angle this->robot->lock(); this->robot->setDeltaHeading(this->deltaHeading); this->robot->unlock(); while(!this->robot->isHeadingDone()) { if(this->robot->isLeftMotorStalled() && this->robot->isRightMotorStalled()) { // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); break; } } } // sets the velocity this->robot->lock(); this->robot->setVel(this->vel); this->robot->unlock(); // sets the duration of the movement ArUtil::sleep(this->time); // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); } On Thu, Aug 12, 2010 at 12:04 PM, Reed Hedges wrote: > Are you using any of your own actions or task callbacks (user tasks or > sensor interpretation tasks)? If so, make sure that these aren?t doing > anything that could make the task cycle take longer than 100ms. Another > thing that can make the task cycle take too long is another thread holding a > lock on ArRobot and possibly other objects used by the task cycle for too > long. (It?s also possible for the computer to just be so loaded that > everything takes too long, you would probably notice this though.) How long > does it say the task cycle is taking? > > > > This warning does happen a bit more often on Windows than on Linux, I don?t > know why exactly yet but it?s only occasional. Are you on Windows or Linux? > > > > > > > > *From:* aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] *On Behalf Of *Bruno Maeda > *Sent:* Thursday, August 05, 2010 7:11 AM > *To:* aria-users at mobilerobots.com > *Subject:* [Aria-users] ArRobot sync tasks too long.... > > > > When I'm simulating my program at MobileSim, It keeps on receiveing this > message all the time... Is this a problem is better to solve? How can I do > that? > > I also receive similar messages (lot less often) about task Packet Handler > and ArRobot cycle... > > > > thanks. > > ???? :: toshy 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. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -- ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100817/b428c6c6/attachment.html From Reed.Hedges at Adept.com Tue Aug 17 14:19:55 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 17 Aug 2010 11:19:55 -0700 Subject: [Aria-users] ArRobot sync tasks too long.... In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F048454B0@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F04845B1A@SRV-APP-6.adept.local> How is MyAction::executeAction() called? Is it or is it called from an ArRobot task (user task or sensor interpretation task)? If so, it would block the action cycle until it returned. If it is called from a separate thread instead (including the main() thread if ArRobot::runAsync() was used), then it should be OK since it only locks the robot object for short periods of time when it calls the direct motion request methods. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Bruno Maeda Sent: Tuesday, August 17, 2010 1:06 PM To: ariausers Subject: Re: [Aria-users] ArRobot sync tasks too long.... I implemented my own Action... here is the code: Is there a way I can do it better then the way is now? This works, but it seems to take to long time. thanks. void MyAction::executeAction() { if(this->deltaHeading != 0.0) { // sets the delta heading angle this->robot->lock(); this->robot->setDeltaHeading(this->deltaHeading); this->robot->unlock(); while(!this->robot->isHeadingDone()) { if(this->robot->isLeftMotorStalled() && this->robot->isRightMotorStalled()) { // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); break; } } } // sets the velocity this->robot->lock(); this->robot->setVel(this->vel); this->robot->unlock(); // sets the duration of the movement ArUtil::sleep(this->time); // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); } On Thu, Aug 12, 2010 at 12:04 PM, Reed Hedges > wrote: Are you using any of your own actions or task callbacks (user tasks or sensor interpretation tasks)? If so, make sure that these aren?t doing anything that could make the task cycle take longer than 100ms. Another thing that can make the task cycle take too long is another thread holding a lock on ArRobot and possibly other objects used by the task cycle for too long. (It?s also possible for the computer to just be so loaded that everything takes too long, you would probably notice this though.) How long does it say the task cycle is taking? This warning does happen a bit more often on Windows than on Linux, I don?t know why exactly yet but it?s only occasional. Are you on Windows or Linux? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Bruno Maeda Sent: Thursday, August 05, 2010 7:11 AM To: aria-users at mobilerobots.com Subject: [Aria-users] ArRobot sync tasks too long.... When I'm simulating my program at MobileSim, It keeps on receiveing this message all the time... Is this a problem is better to solve? How can I do that? I also receive similar messages (lot less often) about task Packet Handler and ArRobot cycle... thanks. ???? :: toshy 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. Mailing list archives are at http://lists.mobilerobots.com/ -- ???? :: toshy maeda :: -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 20153 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100817/67b81e42/attachment-0001.bin From mjohnson at ihmc.us Tue Aug 17 17:06:35 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Tue, 17 Aug 2010 16:06:35 -0500 Subject: [Aria-users] Path Planning in Windows In-Reply-To: References: <000401cb3a23$83eb8db0$8bc2a910$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454A4@SRV-APP-6.adept.local> <004f01cb3a2f$341534b0$9c3f9e10$@us> <38B0EB303E4E804F8A93B5CFA8FFF15F048454B5@SRV-APP-6.adept.local> Message-ID: <007001cb3e50$137128c0$3a537a40$@us> Pedro, Are you using C or Java for SONARNL? I am wondering if there is a bug in the Java API. Matt From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Pedro d'Aquino Sent: Thursday, August 12, 2010 10:20 AM To: Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) Subject: Re: [Aria-users] Path Planning in Windows I can attest that SONARNL works just fine on Windows. On Thu, Aug 12, 2010 at 12:14 PM, Reed Hedges wrote: Does your program do an initial localization after loading the map, usually the ArSonarLocalizationask::localieRobotAtHomeBlocking() function is used. This will check home points as well as the current robot pose, and put the robot at the pose with the best localization score. Until this initial localization happens localization will always fail. I'll try to find out more about what exactly causes the Bad Grid Lengths message. (Not loading a map is one cause, but it looks like that's happening OK in your program?) Reed > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Matthew Johnson > Sent: Thursday, August 12, 2010 11:01 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > The problem is that it never finds a path (FAILED_PLAN). The map is > very basic. The robot starts at (8,2). The location (4,2) should be > half way to the wall with no obstructions. I have attached the map is > you care to try it. > > > > Matt > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: Thursday, August 12, 2010 9:56 AM > To: ariausers > Subject: Re: [Aria-users] Path Planning in Windows > > > > Yes, SONARNL should work in Windows, though I don't remember what > exactly I did to test it with Java. > > > > What specifically is the problem? Can I check the map to see where > those positions are? > > > > > > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Matthew > Johnson > Sent: Thursday, August 12, 2010 9:38 AM > To: ariausers > Subject: [Aria-users] Path Planning in Windows > > > > Has the SONARNL stuff been tested on Windows? It works on my robots > running Linux, but does not when I run simulated robots (MobileSim) on > Windows. > > > > I am using Java 1.6 and Aria 2.5.1. > > > > And get the following: > > Starting BW4Trobot > > ariarobot with args > > ariarobot initialize > > USING GYRO > > Dectivating gyro > > ariarobot set args > > AriaRobot: using sim > > AriaRobot: using map BW4T_local.map > > AriaRobot: on host:port = localhost:8101 > > starting MobileSim -m "C:/VCS/robots/bin/MobileSim\\BW4T_local.map" > > resetting origin to (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > sim should be up... > > Syncing 0 > > Syncing 1 > > Syncing 2 > > Connected to robot. > > Name: MobileSim > > Type: Pioneer > > Subtype: p3dx > > Using default parameters for a p3dx robot > > Will use config file: "params/sonarnl.p" > > Loading config file... > > ariarobot run robot > > using map BW4T_local.map > > GYRO is NOT activated > > at: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) > > resetting origin to (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > at: (8.0, 2.0, 0.0, 0.0, 0.0, 9.0) > > path planning state = NOT_STARTED > > using planner...Thread[Thread-2,5,main] > > map = BW4T_local.map > > Loaded map file 'BW4T_local.map' > > plan res = 637.5 > > Path Planning to pose (4000 2000) > > Bad grid lengths > > Bad grid lengths > > Bad from and/or to points for plan > > PlanAndSetupAction: No path from Current 0 0 0 to Goal > 4000 > 2000 0 > > Goal Failed: 4000 2000 > > path planning state = FAILED_PLAN > > > > Matt > _______________________________________________ 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. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100817/f3a44b3d/attachment.html From saleh1.ahmad at ryerson.ca Thu Aug 19 01:09:42 2010 From: saleh1.ahmad at ryerson.ca (Saleh) Date: Thu, 19 Aug 2010 01:09:42 -0400 Subject: [Aria-users] Path Tracking Message-ID: <4C6CBC96.9030009@ryerson.ca> Hello, I am trying to make the robot follow a predefined path and as you have suggested, I am using the " gotoPoseAction.setGoal(ArPose(xp, yp,th));" command. The problem is that the robot stops after reaching each of theses goals making the robot shakes a lot and hence the performance is very bad. I have attached the code, I'll be very thankful if you take a look and let me know how to fix this problem. Thank you, Saleh -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100819/4b9183cf/attachment-0001.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: path tracking.cpp Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100819/4b9183cf/attachment-0001.ksh From toshy.maeda at gmail.com Thu Aug 19 09:43:39 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 19 Aug 2010 10:43:39 -0300 Subject: [Aria-users] Selecting Between My Action (direct motion) and ArAction Message-ID: *Hi,* * * *The problem is that I don't call my action by adding to "robot.addAction", because of my architecture using reinforcement learning. I first receive the action chosen by the learned policy, and then I call the action, as bellow: * void CMLModel::doNextState(CPrimitiveAction *act) { *// cast the action to CMLAction* * **CMLAction* action = (CMLAction*)(act);** * * * * **// executes action* * **action->executeAction();* // Update internal state variables this->x = robot->getX()/1000.0; this->y = robot->getY()/1000.0; this->theta = robot->getTh(); (....) *and here is my action class:* MyAction::MyAction(rlt_real vel, rlt_real time, rlt_real deltaHeading, ArRobot *robot) : CMLAction(robot) { this->vel = vel; this->time = time; this->deltaHeading = deltaHeading; } void MyAction::executeAction() { if(this->deltaHeading != 0.0) { // sets the delta heading angle this->robot->lock(); this->robot->setDeltaHeading(this->deltaHeading); this->robot->unlock(); while(!this->robot->isHeadingDone()) { // check collision if(this->robot->isLeftMotorStalled() && this->robot->isRightMotorStalled()) { // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); break; } } } // sets the velocity this->robot->lock(); this->robot->setVel(this->vel); this->robot->unlock(); // sets the duration of the movement ArUtil::sleep(this->time); /*clock_t clock0 = clock()*CLK_TCK; while((clock()*CLK_TCK - clock0)/1000.0 < this->time) { // check collision if(this->robot->isLeftMotorStalled() && this->robot->isRightMotorStalled()) { break; } }*/ // stops all movements this->robot->lock(); this->robot->stop(); this->robot->unlock(); ArUtil::sleep(1000); } *But now, I'd like to use the StallRecover Action and the AvoidFront Action, but I don't know how i can implement that for my architecture, as I don't use "robot.addAction"... * *How Can I switch from my action to one of these?* thanks. ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100819/7e7be42a/attachment.html From toshy.maeda at gmail.com Thu Aug 19 10:02:42 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 19 Aug 2010 11:02:42 -0300 Subject: [Aria-users] Selecting Between My Action (direct motion) and ArAction In-Reply-To: References: Message-ID: is it possible you can tell me how these 2 actions (stall recover and avoid front) works so i can implement then by myself? thanks. ???? :: toshy maeda :: -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100819/22ae1a9d/attachment.html From gillen.christian at gmail.com Mon Aug 23 11:21:33 2010 From: gillen.christian at gmail.com (Christian Gillen) Date: Mon, 23 Aug 2010 17:21:33 +0200 Subject: [Aria-users] MobileSim: robot->move() bug Message-ID: Hi, I have found a bug in MobileSim (version 0.5.0). Every second call to robot->move() somehow moves the robot twice the amount it should. Although a call to robot->isMoveDone() returns true on the correct position every time. But the robot doesn't stop when isMoveDone returns true. On a real robot everything works as expected. Here is a simple test case: #include #include class PatrolAction : public ArAction { private: ? ?enum State ? ?{ ? ? ? ?StateStart, ? ? ? ?StateMoving, ? ? ? ?StateTurning, ? ? ? ?StateDone ? ?}; ? ?int _n; ? ?State _state; public: ? ?PatrolAction(int n) ? ? ? ?: ArAction(""), ?_n(n), ? ? ? ? ?_state(StateStart) ? ?{} ? ?virtual ArActionDesired *fire(ArActionDesired currentDesired) ? ?{ ? ? ? ?ArRobot *robot = getRobot(); ? ? ? ?switch (_state) ? ? ? ?{ ? ? ? ?case StateStart: ? ? ? ? ? ?robot->move(1000); ? ? ? ? ? ?_state = StateMoving; ? ? ? ? ? ?std::cout << "x: " << robot->getPose().getX() << " ? ?y: " << robot->getPose().getY() << std::endl; ? ? ? ? ? ?break; ? ? ? ?case StateMoving: ? ? ? ? ? ?if (robot->isMoveDone() && robot->getLeftVel() < 5 && robot->getRightVel() < 5) ? ? ? ? ? ?{ ? ? ? ? ? ? ? ?robot->setDeltaHeading(180); ? ? ? ? ? ? ? ?_state = StateTurning; ? ? ? ? ? ?} ? ? ? ? ? ?break; ? ? ? ?case StateTurning: ? ? ? ? ? ?if (robot->isHeadingDone()) ? ? ? ? ? ?{ ? ? ? ? ? ? ? ?_n--; ? ? ? ? ? ? ? ?if (_n >= 0) ? ? ? ? ? ? ? ? ? ?_state = StateStart; ? ? ? ? ? ? ? ?else ? ? ? ? ? ? ? ? ? ?_state = StateDone; ? ? ? ? ? ?} ? ? ? ? ? ?break; ? ? ? ?} ? ? ? ?return NULL; ? ?} }; int main(int argc, char** argv) { ? ?Aria::init(); ? ?ArSimpleConnector conn(&argc, argv); ? ?ArRobot robot; ? ?ArSonarDevice sonar; ? ?PatrolAction act(4); ? ?if(!Aria::parseArgs() || !conn.connectRobot(&robot)) ? ? ? ?return 1; ? ?robot.addRangeDevice(&sonar); ? ?robot.addAction(&act, 50); ? ?robot.enableMotors(); ? ?robot.run(true); ? ?Aria::shutdown(); ? ?return 0; } The output of this looks like this: x: 0 y: 0 x: 1012.19 y: 0 x: -1068.94 y: 6.79 x: -56.745 y: -0.97 x: -1290.59 y: 6.79 <------ the robot hit a wall here, otherwise it would probably have moved to around -2000 I hope there is an easy fix. :) Christian From angello.pozo at email.ucr.edu Tue Aug 31 01:16:30 2010 From: angello.pozo at email.ucr.edu (Angello Patricio Pozo) Date: Mon, 30 Aug 2010 22:16:30 -0700 Subject: [Aria-users] Data Assertion Fail Error Suspected Bug Message-ID: We are using: Peoplebot with serial = PPGJCC3351 Windows XP with, Aria 2.7.2 ARNL 1.7.0 ARCOS 3.0. We have run into an error that now has caused errors to the provided ARNL examples. Attached is an image of the error. It claims that an error happened with sonarnlserverdebugvc9.exe in the Microsoft studio 9 vector file. The error pops up when an ArPose is given to the PathPlanToPose function. The same error occurs if PathPlanToGoal is called. Our Test: 1)Open SoarnlServer example and run Debug. 2)Run Mobile Eyes. 3)Move the robot around using the Manual move buttons, just to make sure it can move properly. 4)Have the robot move to several locations and to goals. (this works fine). 5)Reset Micro controller. 6)Run our project in Debug mode. 7)Once a valid location is found, the error pops up. This is because the PathPlanToPose function is called. (if we remove this line for our code, the program doesn't crash) 8)Reset Micro controller. 9)Open SoarnlServer example and run Debug. 10)Run Mobile Eyes. 11)Manually move the robot around, just to make sure it can move properly. 11)Give a path command to a location or tour goals. 12)Either way, the error pops up. The only difference between the errors is the "Program:" line. When we run our code it specifies our project. Rather than the SonarlServerDebugVC9.exe that is shown in the image. We are concerned because we only get this error on Peoplebot. Our code uses the SonAnrlServer Example as a basis. We then add OpenCV and our algorithm's h and cpp files. These are all similar for our three robots: P3at, Patrolbot, and Peoplebot. The only difference is the vision section. For P3at and patrol we use the Sensoray 311 Framegrabber SDK, while for Peoplebot we use the Digiclops-triclops library. We believe we eliminated Digiclops as the source since your SonArnlServer example fails as well. Granted it could be that Digiclops is corrupting something with aria. We would also like to say that the error has appeared on the other robots but only once or twice in the past month of operation. Attempts made to correct issue: 1)We did not always have the ARCOS 3.0 firmware installed. We had 2.6 installed i believe. But when i upgraded to 3.0, the error went away for a while. It then reappeared after we ran our code several more times. We are currently unable to do anything with PathPlantopose or PathPlanToGoal. 2) We use the vector.h as part of our algorithm. I have removed all this code, effectively leaving only the sonarnlServer code with the addition of Digiclops. The error persists. 3) We only use your SonArnlServer code and the error persists. 4) we have restarted the computer, disk cleaned and reinstalled Aria 2.7.2, Arnl 1.70. If we reinstall aria and Arnl the robot will work for a short time, but the error does return. 5) We also viewed the task manager as the program runs, and have not observed any spikes in memory use. 6)To see if somehow we are sending invalid locations to PathPlanToPose we manually gave locations that we know are valid. But the error persists. Regardless of the simplicity of the location, as in just move forward, the robot fails. If you would like our code, we may be able to provide a stripped down version. It would be beneficial to our work if we could have the source code for aria. This is urgent thank you. Angello Pozo -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100830/31dd4c9d/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: sonarl_error_window.png Type: image/png Size: 59032 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100830/31dd4c9d/attachment-0001.png From Reed.Hedges at Adept.com Tue Aug 31 17:16:06 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 31 Aug 2010 14:16:06 -0700 Subject: [Aria-users] Data Assertion Fail Error Suspected Bug In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F025147227E@SRV-APP-6.adept.local> Hello, I will look at sonArnlServer more tomorrow. If you press Retry and look at it in the debugger (in Visual Studio), or if you run it from the Visual Studio debugger, can you check the Stack Trace window? If youc an copy and paste the stack trace that may help. -- Reed Hedges Research Support and Software Adept MobileRobots http://www.mobilerobots.com http://robots.mobilerobots.com reed.hedges at adept.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Angello Patricio Pozo [angello.pozo at email.ucr.edu] Sent: Tuesday, August 31, 2010 1:16 AM To: ariausers Subject: [Aria-users] Data Assertion Fail Error Suspected Bug We are using: Peoplebot with serial = PPGJCC3351 Windows XP with, Aria 2.7.2 ARNL 1.7.0 ARCOS 3.0. We have run into an error that now has caused errors to the provided ARNL examples. Attached is an image of the error. It claims that an error happened with sonarnlserverdebugvc9.exe in the Microsoft studio 9 vector file. The error pops up when an ArPose is given to the PathPlanToPose function. The same error occurs if PathPlanToGoal is called. Our Test: 1)Open SoarnlServer example and run Debug. 2)Run Mobile Eyes. 3)Move the robot around using the Manual move buttons, just to make sure it can move properly. 4)Have the robot move to several locations and to goals. (this works fine). 5)Reset Micro controller. 6)Run our project in Debug mode. 7)Once a valid location is found, the error pops up. This is because the PathPlanToPose function is called. (if we remove this line for our code, the program doesn't crash) 8)Reset Micro controller. 9)Open SoarnlServer example and run Debug. 10)Run Mobile Eyes. 11)Manually move the robot around, just to make sure it can move properly. 11)Give a path command to a location or tour goals. 12)Either way, the error pops up. The only difference between the errors is the "Program:" line. When we run our code it specifies our project. Rather than the SonarlServerDebugVC9.exe that is shown in the image. We are concerned because we only get this error on Peoplebot. Our code uses the SonAnrlServer Example as a basis. We then add OpenCV and our algorithm's h and cpp files. These are all similar for our three robots: P3at, Patrolbot, and Peoplebot. The only difference is the vision section. For P3at and patrol we use the Sensoray 311 Framegrabber SDK, while for Peoplebot we use the Digiclops-triclops library. We believe we eliminated Digiclops as the source since your SonArnlServer example fails as well. Granted it could be that Digiclops is corrupting something with aria. We would also like to say that the error has appeared on the other robots but only once or twice in the past month of operation. Attempts made to correct issue: 1)We did not always have the ARCOS 3.0 firmware installed. We had 2.6 installed i believe. But when i upgraded to 3.0, the error went away for a while. It then reappeared after we ran our code several more times. We are currently unable to do anything with PathPlantopose or PathPlanToGoal. 2) We use the vector.h as part of our algorithm. I have removed all this code, effectively leaving only the sonarnlServer code with the addition of Digiclops. The error persists. 3) We only use your SonArnlServer code and the error persists. 4) we have restarted the computer, disk cleaned and reinstalled Aria 2.7.2, Arnl 1.70. If we reinstall aria and Arnl the robot will work for a short time, but the error does return. 5) We also viewed the task manager as the program runs, and have not observed any spikes in memory use. 6)To see if somehow we are sending invalid locations to PathPlanToPose we manually gave locations that we know are valid. But the error persists. Regardless of the simplicity of the location, as in just move forward, the robot fails. If you would like our code, we may be able to provide a stripped down version. It would be beneficial to our work if we could have the source code for aria. This is urgent thank you. Angello Pozo -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5281 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100831/d37fb495/attachment.bin From angello.pozo at email.ucr.edu Tue Aug 31 23:33:57 2010 From: angello.pozo at email.ucr.edu (Angello Patricio Pozo) Date: Tue, 31 Aug 2010 20:33:57 -0700 Subject: [Aria-users] Data Assertion Fail Error Suspected Bug In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F025147227E@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F025147227E@SRV-APP-6.adept.local> Message-ID: Below is a copy of the call stack. msvcp90d.dll!104ed4c3() [Frames below may be incorrect and/or missing, no symbols loaded for msvcp90d.dll] BaseArnlDebugVC9.dll!00b0fc79() BaseArnlDebugVC9.dll!00b0b934() BaseArnlDebugVC9.dll!00ac960f() BaseArnlDebugVC9.dll!00ac95bf() BaseArnlDebugVC9.dll!00ac957f() BaseArnlDebugVC9.dll!00b00733() msvcp90d.dll!104f5adf() msvcp90d.dll!104f5aff() BaseArnlDebugVC9.dll!00b1cf14() BaseArnlDebugVC9.dll!00b176f9() AriaDebugVC9.DLL!006118d1() kernel32.dll!7c8024c7() msvcp90d.dll!10487af1() msvcp90d.dll!10487c41() AriaDebugVC9.DLL!00619039() AriaDebugVC9.DLL!007d65d3() AriaDebugVC9.DLL!007f5230() AriaDebugVC9.DLL!007fcd5f() AriaDebugVC9.DLL!0083b789() AriaDebugVC9.DLL!0083b91b() AriaDebugVC9.DLL!0083a45b() AriaDebugVC9.DLL!0065c096() AriaDebugVC9.DLL!0084a352() kernel32.dll!7c80b729() I would like to say that today the "Data Assertion fail" error came up on p3at and patrol bot. P3at and Patrol use: Aria: 2.7.2 Arnl: 1.7.0 P3at: ARCOS 3.0 Serial: ATGJCC3350 Patrol: uARCS version 4.6 UARCSstub v 1.9 Serial: BHI_C05032 Thank you prompt reply. I have high hopes this can be resolved quickly. Angello Pozo On Tue, Aug 31, 2010 at 2:16 PM, Reed Hedges wrote: > > Hello, > > I will look at sonArnlServer more tomorrow. > > If you press Retry and look at it in the debugger (in Visual Studio), or if > you run it from the Visual Studio debugger, can you check the Stack Trace > window? If youc an copy and paste the stack trace that may help. > > -- > Reed Hedges > Research Support and Software > Adept MobileRobots > http://www.mobilerobots.com > http://robots.mobilerobots.com > reed.hedges at adept.com > ________________________________________ > From: aria-users-bounces at lists.mobilerobots.com [ > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Angello Patricio > Pozo [angello.pozo at email.ucr.edu] > Sent: Tuesday, August 31, 2010 1:16 AM > To: ariausers > Subject: [Aria-users] Data Assertion Fail Error Suspected Bug > > We are using: > Peoplebot with serial = PPGJCC3351 > Windows XP with, > Aria 2.7.2 > ARNL 1.7.0 > ARCOS 3.0. > > We have run into an error that now has caused errors to the provided ARNL > examples. Attached is an image of the error. It claims that an error > happened with sonarnlserverdebugvc9.exe in the Microsoft studio 9 vector > file. > > The error pops up when an ArPose is given to the PathPlanToPose function. > The same error occurs if PathPlanToGoal is called. > > Our Test: > 1)Open SoarnlServer example and run Debug. > 2)Run Mobile Eyes. > 3)Move the robot around using the Manual move buttons, just to make sure it > can move properly. > 4)Have the robot move to several locations and to goals. (this works fine). > 5)Reset Micro controller. > 6)Run our project in Debug mode. > 7)Once a valid location is found, the error pops up. This is because the > PathPlanToPose function is called. (if we remove this line for our code, the > program doesn't crash) > 8)Reset Micro controller. > 9)Open SoarnlServer example and run Debug. > 10)Run Mobile Eyes. > 11)Manually move the robot around, just to make sure it can move properly. > 11)Give a path command to a location or tour goals. > 12)Either way, the error pops up. > > The only difference between the errors is the "Program:" line. When we run > our code it specifies our project. Rather than the SonarlServerDebugVC9.exe > that is shown in the image. > > We are concerned because we only get this error on Peoplebot. Our code uses > the SonAnrlServer Example as a basis. We then add OpenCV and our algorithm's > h and cpp files. These are all similar for our three robots: P3at, > Patrolbot, and Peoplebot. The only difference is the vision section. For > P3at and patrol we use the Sensoray 311 Framegrabber SDK, while for > Peoplebot we use the Digiclops-triclops library. We believe we eliminated > Digiclops as the source since your SonArnlServer example fails as well. > Granted it could be that Digiclops is corrupting something with aria. > > We would also like to say that the error has appeared on the other robots > but only once or twice in the past month of operation. > > Attempts made to correct issue: > 1)We did not always have the ARCOS 3.0 firmware installed. We had 2.6 > installed i believe. But when i upgraded to 3.0, the error went away for a > while. It then reappeared after we ran our code several more times. We are > currently unable to do anything with PathPlantopose or PathPlanToGoal. > > 2) We use the vector.h as part of our algorithm. I have removed all this > code, effectively leaving only the sonarnlServer code with the addition of > Digiclops. The error persists. > > 3) We only use your SonArnlServer code and the error persists. > > 4) we have restarted the computer, disk cleaned and reinstalled Aria 2.7.2, > Arnl 1.70. If we reinstall aria and Arnl the robot will work for a short > time, but the error does return. > > 5) We also viewed the task manager as the program runs, and have not > observed any spikes in memory use. > > 6)To see if somehow we are sending invalid locations to PathPlanToPose we > manually gave locations that we know are valid. But the error persists. > Regardless of the simplicity of the location, as in just move forward, the > robot fails. > > If you would like our code, we may be able to provide a stripped down > version. > > It would be beneficial to our work if we could have the source code for > aria. > > This is urgent thank you. > Angello Pozo > > > _______________________________________________ > 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. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... 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