From throwawaynate2009 at gmail.com Tue Feb 9 02:34:48 2010 From: throwawaynate2009 at gmail.com (Nate R) Date: Tue, 9 Feb 2010 01:34:48 -0600 Subject: [Aria-users] Java Wrapper Message-ID: Hello, After working a lot with the C++ API, I have decided to use the Java wrapper for an applet I'm creating that will control a PeopleBot. My issue, is with ArClientBase. I am trying to call .lock() so I can send a request, but it seems .lock() isn't in the Java wrapper. The code simply won't compile. Is there another way of locking the ArClientBase to send a request to the robot? I only ask because the example code in ArNetworking/javaExamples calls .lock() on an ArClientBase object, and that code won't compile for me. Do I need to do something special with the library files to make this work? Thanks, Nate -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100209/bbda0d37/attachment.html From semix2 at gmail.com Tue Feb 9 02:44:33 2010 From: semix2 at gmail.com (=?EUC-KR?B?sPu6sLv5?=) Date: Tue, 9 Feb 2010 16:44:33 +0900 Subject: [Aria-users] Java Wrapper In-Reply-To: References: Message-ID: <306b36991002082344id708d82mf7b91a62230572f1@mail.gmail.com> Hi- If you want to use ArNetworking with java, you can use java-robot-api ( http://code.google.com/p/java-robot-api/). that is pure java and open source. you can find some examples at here ( http://code.google.com/p/java-robot-api/source/browse/#svn/tags/1.0.2/src/semix2/robot/example ) 2010/2/9 Nate R > Hello, > > After working a lot with the C++ API, I have decided to use the Java > wrapper for an applet I'm creating that will control a PeopleBot. > > My issue, is with ArClientBase. I am trying to call .lock() so I can send a > request, but it seems .lock() isn't in the Java wrapper. The code simply > won't compile. Is there another way of locking the ArClientBase to send a > request to the robot? > > I only ask because the example code in ArNetworking/javaExamples calls > .lock() on an ArClientBase object, and that code won't compile for me. > > Do I need to do something special with the library files to make this work? > > Thanks, > Nate > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100209/6be93e09/attachment-0001.html From reed at mobilerobots.com Tue Feb 9 09:18:20 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 09 Feb 2010 09:18:20 -0500 Subject: [Aria-users] Java Wrapper In-Reply-To: References: Message-ID: <4B716EAC.8040309@mobilerobots.com> Nate R wrote: > I only ask because the example code in ArNetworking/javaExamples calls > .lock() on an ArClientBase object, and that code won't compile for me. What is the error? From throwawaynate2009 at gmail.com Tue Feb 9 11:49:13 2010 From: throwawaynate2009 at gmail.com (Nate R) Date: Tue, 9 Feb 2010 10:49:13 -0600 Subject: [Aria-users] Java Wrapper In-Reply-To: <4B716EAC.8040309@mobilerobots.com> References: <4B716EAC.8040309@mobilerobots.com> Message-ID: Hi, The error is symbol not found. The ArNetworking javadoc pages say the .lock() method isn't available in the java wrapper, so that's why I'm asking how to lock the object for sending requests. Thanks, Nate On Tue, Feb 9, 2010 at 8:18 AM, Reed Hedges wrote: > Nate R wrote: > > > I only ask because the example code in ArNetworking/javaExamples calls > > .lock() on an ArClientBase object, and that code won't compile for me. > > What is the error? > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100209/2a3f4077/attachment.html From tobias.weis at gmx.de Fri Feb 12 09:55:13 2010 From: tobias.weis at gmx.de (Tobias Weis) Date: Fri, 12 Feb 2010 15:55:13 +0100 Subject: [Aria-users] Differnece between getCurrentBuffer and getCumulativeBuffer Message-ID: <1265986513.1941.3.camel@nc10> Hi! Could someone explain to me what the difference is between ArRangeDevice:: getCurrentBuffer() and getCumulativeBuffer() ? Both state "Gets the current buffer of readings" in the docs.. I also realised, that the angle (laser scanner) of the readings in the buffer differ, and the amount of readings, too. Is there a method to get 'clean' readings of the laser scanner? By clean, i mean, always the same count of results, always at the same angles. (I wrote a little server on top of arnlServer to send all the relevant data via tcp-socket to my laptop). Thanks in advance, Tobi From reed at mobilerobots.com Fri Feb 12 12:25:57 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Feb 2010 12:25:57 -0500 Subject: [Aria-users] New videos of MobileRobots' new Seekur Jr. Message-ID: <4B758F25.5040001@mobilerobots.com> Some videos of our new robot, Seekur Jr., have been posted to YouTube. View them here: http://www.youtube.com/MobileRobots See all videos at http://www.youtube.com/MobileRobots#g/u What do you think? Want to see any other videos of any of our platforms or accessories in action? Do you have any videos or other work online? Let us know here, or add them to the list at http://robots.mobilerobots.com/wiki/Community_Links Reed From reed at mobilerobots.com Fri Feb 12 12:57:10 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Feb 2010 12:57:10 -0500 Subject: [Aria-users] Differnece between getCurrentBuffer and getCumulativeBuffer In-Reply-To: <1265986513.1941.3.camel@nc10> References: <1265986513.1941.3.camel@nc10> Message-ID: <4B759676.70003@mobilerobots.com> Hi Tobias, There are some parameters in ArRangeDevice that determine how readings are added to the current buffer and when they are later removed. These include MinDistBetween (very close to another reading), MaxSecondsToKeep (normally with ArLMS2xx they're just removed when the next set of data comes in though), and when the size limit of the buffer is reached. The cumulative buffer has some additional parameters; e.g. readings are removed once the robot has moved far away from them. It generally persists for longer than the current buffer and stores more readings. > Is there a method to get 'clean' readings of the laser scanner? > By clean, i mean, always the same count of results, always at the same > angles. You can get the "raw" readings with ArRangeDevice::getRawReadings(), which are all the readings from the last set received. (Don't forget to lock the object when using these, getRawReadings() just returns the internal data structure ArRangeDevice is using to store it.) (For "adjusted" raw readings, ArRangeDevice applies some correction to the "PoseTaken" value based on odometry delay, the motion of the robot, etc., see ArRangeDevice::adjustRawReadings().) From nmukanov at uwaterloo.ca Fri Feb 12 17:44:38 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 12 Feb 2010 17:44:38 -0500 Subject: [Aria-users] Voice commands Message-ID: <20100212174438.134334qyzgtodomc@www.nexusmail.uwaterloo.ca> Hello, my name is Nurlan. Could somebody help me with a robot PeopleBot. I want him to do some actions by my voice commands. But I don't know how to do that. I checked and it recognizes sound and words, but how make a robot understand my commends and do what I want. For example if I say: "Move forward" it will start moving forward. How to do that. Thanks a lot. Thanks, Nurlan. From reed at mobilerobots.com Fri Feb 12 17:50:55 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Feb 2010 17:50:55 -0500 Subject: [Aria-users] Voice commands In-Reply-To: <20100212174438.134334qyzgtodomc@www.nexusmail.uwaterloo.ca> References: <20100212174438.134334qyzgtodomc@www.nexusmail.uwaterloo.ca> Message-ID: <4B75DB4F.9020801@mobilerobots.com> Hi Nurlan, You can use the ArSpeechRec_Sphinx C++ library. If you want, you can start by copying its example program and modifying it. Read the ArSpeehRec_Sphinx README and API reference documentation for info about using it. It is actually a "wrapper" around Sphinx, that simplifies using Sphinx a bit and makes it easier to use with ARIA in C++, but you can find more information about Sphinx online. Reed Nurlan Mukanov wrote: > Hello, my name is Nurlan. Could somebody help me with a robot > PeopleBot. I want him to do some actions by my voice commands. But I > don't know how to do that. I checked and it recognizes sound and > words, but how make a robot understand my commends and do what I want. > For example if I say: "Move forward" it will start moving forward. How > to do that. Thanks a lot. > > Thanks, > Nurlan. > > From nmukanov at uwaterloo.ca Wed Feb 17 11:23:28 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Wed, 17 Feb 2010 11:23:28 -0500 Subject: [Aria-users] Voice commands In-Reply-To: <4B75DB4F.9020801@mobilerobots.com> References: <20100212174438.134334qyzgtodomc@www.nexusmail.uwaterloo.ca> <4B75DB4F.9020801@mobilerobots.com> Message-ID: <20100217112328.98593yair3edsdgk@www.nexusmail.uwaterloo.ca> Hello. Could you give some exact example how to do it. I am new to it. I really appreciate your help. Thanks, Nurlan. Quoting Reed Hedges : > > Hi Nurlan, > > You can use the ArSpeechRec_Sphinx C++ library. If you want, you > can start by > copying its example program and modifying it. Read the > ArSpeehRec_Sphinx README > and API reference documentation for info about using it. It is actually a > "wrapper" around Sphinx, that simplifies using Sphinx a bit and > makes it easier > to use with ARIA in C++, but you can find more information about > Sphinx online. > > Reed > > > > Nurlan Mukanov wrote: >> Hello, my name is Nurlan. Could somebody help me with a robot >> PeopleBot. I want him to do some actions by my voice commands. But I >> don't know how to do that. I checked and it recognizes sound and >> words, but how make a robot understand my commends and do what I want. >> For example if I say: "Move forward" it will start moving forward. How >> to do that. Thanks a lot. >> >> Thanks, >> Nurlan. >> >> > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > From reed at mobilerobots.com Wed Feb 17 12:21:58 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 17 Feb 2010 12:21:58 -0500 Subject: [Aria-users] Voice commands In-Reply-To: <20100217112328.98593yair3edsdgk@www.nexusmail.uwaterloo.ca> References: <20100212174438.134334qyzgtodomc@www.nexusmail.uwaterloo.ca> <4B75DB4F.9020801@mobilerobots.com> <20100217112328.98593yair3edsdgk@www.nexusmail.uwaterloo.ca> Message-ID: <4B7C25B6.4060305@mobilerobots.com> You can take a look at ArSpeechRec_Sphinx/examples/speechSimple.cpp When it recognizes speech, it calls inputHandler() (because it was added as the "input handler" callback by calling ArSphinx::addInputHandler() in main()). This callback function is where you would check the phrase that was recognized and activate robot actions based on that. For this example you can provide the names of the dictionary and language model files on the command line when you run it. There is also ArSpeechRec_Sphinx/examples/wanderAndInteract.cpp which is a more complicated program but shows one (simplistic) way to structure interaction between a robot and a person. First, wanderAndInteract does speech synthesis as well as recognition, so it needs to link to either the ArSpeechSynth_Cepstral or ArSpeechSynth_Festival speech synthesis libraries. wanderAndInteract program keeps a certain 'state' active, which represents different modes of robot action, such as wandering, stopped and waiting for input, stopped and in the middle of talking to a person (conversing), etc. In this example, there is a different speech input handler in each state class. States also have a function task() which is called repeatedly by the state machine class on the active state. task() checks what the phrase was and tells the state machine to switch to other states based on what phrase was recognized. wanderAndInteract uses "wanderSample.dic' as the word dictionary and 'wanderSample.lm' as the language model. Nurlan Mukanov wrote: > Hello. Could you give some exact example how to do it. I am new to it. > I really appreciate your help. > > Thanks, Nurlan. > > > Quoting Reed Hedges : > >> Hi Nurlan, >> >> You can use the ArSpeechRec_Sphinx C++ library. If you want, you >> can start by >> copying its example program and modifying it. Read the >> ArSpeehRec_Sphinx README >> and API reference documentation for info about using it. It is actually a >> "wrapper" around Sphinx, that simplifies using Sphinx a bit and >> makes it easier >> to use with ARIA in C++, but you can find more information about >> Sphinx online. >> >> Reed >> >> >> >> Nurlan Mukanov wrote: >>> Hello, my name is Nurlan. Could somebody help me with a robot >>> PeopleBot. I want him to do some actions by my voice commands. But I >>> don't know how to do that. I checked and it recognizes sound and >>> words, but how make a robot understand my commends and do what I want. >>> For example if I say: "Move forward" it will start moving forward. How >>> to do that. Thanks a lot. >>> >>> Thanks, >>> Nurlan. >>> From nmukanov at uwaterloo.ca Wed Feb 17 13:13:32 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Wed, 17 Feb 2010 13:13:32 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100217131332.23587ir8veuyie3w@www.nexusmail.uwaterloo.ca> Hello, I am trying to create an executable wanderAndInteract inorder to make tests, but I can't. How can I do that. thanks Nurlan. From nmukanov at uwaterloo.ca Wed Feb 17 14:48:52 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Wed, 17 Feb 2010 14:48:52 -0500 Subject: [Aria-users] ArCepstral Message-ID: <20100217144852.49205jhr9zgiahc8@www.nexusmail.uwaterloo.ca> Hello, How can link to ArCepstral libraries? when I try to compile wanderAndInteract.cpp it says that I should choose between ArCepstral and ArFestival. I follow instructions and choose Arcepstral through the Makefile(uncommenting the required lines). But I face the same problem after that. Thanks for your help. Nurlan. From lafary at mobilerobots.com Thu Feb 18 09:55:22 2010 From: lafary at mobilerobots.com (Matt LaFary) Date: Thu, 18 Feb 2010 09:55:22 -0500 Subject: [Aria-users] ArCepstral In-Reply-To: <20100217144852.49205jhr9zgiahc8@www.nexusmail.uwaterloo.ca> References: <20100217144852.49205jhr9zgiahc8@www.nexusmail.uwaterloo.ca> Message-ID: <4B7D54DA.6020208@mobilerobots.com> If you aren't using a robot that has the sound package from us you probably don't have cepstral and should try with festival instead. If you are using a robot that has the sound package and cepstral from us would you please cut and paste the error you get? Matt LaFary MobileRobots Inc Nurlan Mukanov wrote: > Hello, > > How can link to ArCepstral libraries? when I try to compile > wanderAndInteract.cpp it says that I should choose between ArCepstral > and ArFestival. I follow instructions and choose Arcepstral through > the Makefile(uncommenting the required lines). But I face the same > problem after that. Thanks for your help. > > Nurlan. > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From nmukanov at uwaterloo.ca Fri Feb 19 09:54:29 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 09:54:29 -0500 Subject: [Aria-users] ArCepstral Message-ID: <20100219095429.185579ojxa9jb8cg@www.nexusmail.uwaterloo.ca> Hello, I got the ArCepstral (I don't have ArFestival). Could you take look at the mistakes that it gives me. I edit ArSpeechRec_Sphinx/Makefile as it says in the file itself(uncommenet lines that I need). After typing command: "make" inside the ArSpeechRec_Sphinx/examples folder, it gives me this: make -C .. examples/recognitionAndPlayback make[1]: Entering directory `/usr/local/Aria/ArSpeechRec_Sphinx' g++-3.4 -shared -o ../lib/libArSpeechRec_Sphinx.so obj/ArSphinx.o -L../lib -lAria -lpthread -ldl -lrt -LinternalLibs/lib -Wl,-Bstatic -lsphinx2 -lsphinx2fe -lsphinx2ad -Wl,-Bdynamic g++-3.4 -g -Wall -D_REENTRANT -D__LINUX__ -fno-exceptions -fPIC -pg -Iinclude -I../include -I../include examples/recognitionAndPlayback.cpp -o examples/recognitionAndPlayback -L../lib -lAria -lpthread -ldl -lrt -lArSpeechRec_Sphinx -lstdc++ examples/recognitionAndPlayback.cpp:125:4: #error Neither HAVE_ARCEPSTRAL or HAVE_ARFESTIVAL were defined: cannot do speech synthesis! make[1]: *** [examples/recognitionAndPlayback] Error 1 make[1]: Leaving directory `/usr/local/Aria/ArSpeechRec_Sphinx' make: *** [recognitionAndPlayback] Error 2 What could be the problem? Thanks, Nurlan. From lafary at mobilerobots.com Fri Feb 19 10:16:27 2010 From: lafary at mobilerobots.com (Matt LaFary) Date: Fri, 19 Feb 2010 10:16:27 -0500 Subject: [Aria-users] ArCepstral In-Reply-To: <20100219095429.185579ojxa9jb8cg@www.nexusmail.uwaterloo.ca> References: <20100219095429.185579ojxa9jb8cg@www.nexusmail.uwaterloo.ca> Message-ID: <4B7EAB4B.6080507@mobilerobots.com> Apparently the Makefiles are slightly broken, sorry for the inconvenience. You'll need to change these two lines in the Makefile: EXTRA_EXAMPLES_INCLUDE_FLAGS=$(EXAMPLES_TTS_INC) EXTRA_EXAMPLES_LFLAGS=$(EXAMPLES_TTS_LINK) To: EXTRA_PROG_INCLUDE_FLAGS=$(EXAMPLES_TTS_INC) EXTRA_PROG_LFLAGS=$(EXAMPLES_TTS_LINK) That's just changing the EXAMPLES to PROG. Then you should be able to compile the examples. One of the examples didn't compile for me that I think probably compiles in the release, if you do have the same problem though note you can just compile the specific program you want by doing: make wanderAndInteract Matt LaFary MobileRobots Inc Nurlan Mukanov wrote: > Hello, > > I got the ArCepstral (I don't have ArFestival). Could you take look at > the mistakes that it gives me. I edit ArSpeechRec_Sphinx/Makefile as > it says in the file itself(uncommenet lines that I need). > After typing command: "make" inside the ArSpeechRec_Sphinx/examples > folder, it gives me this: > > > make -C .. examples/recognitionAndPlayback > make[1]: Entering directory `/usr/local/Aria/ArSpeechRec_Sphinx' > g++-3.4 -shared -o ../lib/libArSpeechRec_Sphinx.so obj/ArSphinx.o > -L../lib -lAria -lpthread -ldl -lrt -LinternalLibs/lib -Wl,-Bstatic > -lsphinx2 -lsphinx2fe -lsphinx2ad -Wl,-Bdynamic > g++-3.4 -g -Wall -D_REENTRANT -D__LINUX__ -fno-exceptions -fPIC -pg > -Iinclude -I../include -I../include > examples/recognitionAndPlayback.cpp -o examples/recognitionAndPlayback > -L../lib -lAria -lpthread -ldl -lrt -lArSpeechRec_Sphinx -lstdc++ > examples/recognitionAndPlayback.cpp:125:4: #error Neither > HAVE_ARCEPSTRAL or HAVE_ARFESTIVAL were defined: cannot do speech > synthesis! > make[1]: *** [examples/recognitionAndPlayback] Error 1 > make[1]: Leaving directory `/usr/local/Aria/ArSpeechRec_Sphinx' > make: *** [recognitionAndPlayback] Error 2 > > What could be the problem? > > Thanks, Nurlan. > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From nmukanov at uwaterloo.ca Fri Feb 19 10:36:39 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 10:36:39 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100219103639.44330hiiihgze494@www.nexusmail.uwaterloo.ca> Hello, There is a mistake with wanderAndInteract when I try to run it. It's trying to unblock a mutex(ArMutex) (''). What is the problem? Thanks, Nurlan. From nmukanov at uwaterloo.ca Fri Feb 19 10:36:44 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 10:36:44 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100219103644.19974mr07f329o2s@www.nexusmail.uwaterloo.ca> Hello, There is a mistake with wanderAndInteract when I try to run it. It's trying to unblock a mutex(ArMutex) (''). What is the problem? Thanks, Nurlan. From nmukanov at uwaterloo.ca Fri Feb 19 11:47:35 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 11:47:35 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100219114735.10235wm3ksmjvdgc@www.nexusmail.uwaterloo.ca> hello, I think I compile wanderAndInteract properly, but when I run wanderAndInteract file it gives this: "ArMutex::unblock: Trying to unlock a mutex ('') which this thread ('ArSoundQueue' -1075424888 pid 4341) does not own" And it's stuck at that step without proceeding to next steps. Also, it's speaking "Calibrating recognition...Please, wait a moment" What could be the problem? Thanks, Nurlan From nmukanov at uwaterloo.ca Fri Feb 19 12:06:59 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 12:06:59 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100219120659.60182firp3zphtlw@www.nexusmail.uwaterloo.ca> hello, I think I compile wanderAndInteract properly, but when I run wanderAndInteract file it gives this: "ArMutex::unblock: Trying to unlock a mutex ('') which this thread ('ArSoundQueue' -1075424888 pid 4341) does not own" And it's stuck at that step without proceeding to next steps. Also, it's speaking "Calibrating recognition...Please, wait a moment" What could be the problem? Thanks, Nurlan From nmukanov at uwaterloo.ca Fri Feb 19 13:39:19 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Fri, 19 Feb 2010 13:39:19 -0500 Subject: [Aria-users] wanderAndInteract Message-ID: <20100219133919.197573ebysz08oow@www.nexusmail.uwaterloo.ca> hello, I think I compile wanderAndInteract properly, but when I run wanderAndInteract file it gives this: "ArMutex::unblock: Trying to unlock a mutex ('') which this thread ('ArSoundQueue' -1075424888 pid 4341) does not own" And it's stuck at that step without proceeding to next steps. Also, it's speaking "Calibrating recognition...Please, wait a moment" What could be the problem? Thanks, Nurlan From nmukanov at uwaterloo.ca Mon Feb 22 13:30:24 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Mon, 22 Feb 2010 13:30:24 -0500 Subject: [Aria-users] wanderAndInteract??? Message-ID: <20100222133024.13214gckj9b1zdog@www.nexusmail.uwaterloo.ca> From nmukanov at uwaterloo.ca Mon Feb 22 13:31:06 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Mon, 22 Feb 2010 13:31:06 -0500 Subject: [Aria-users] wanderAndInteract??? Message-ID: <20100222133106.12125x49kpxbjh8g@www.nexusmail.uwaterloo.ca> hello, I think I compile wanderAndInteract properly, but when I run wanderAndInteract file it gives this: "ArMutex::unblock: Trying to unlock a mutex ('') which this thread ('ArSoundQueue' -1075424888 pid 4341) does not own" And it's stuck at that step without proceeding to next steps. Also, it's speaking "Calibrating recognition...Please, wait a moment" What could be the problem? Thanks, Nurlan From lafary at mobilerobots.com Mon Feb 22 16:08:50 2010 From: lafary at mobilerobots.com (Matt LaFary) Date: Mon, 22 Feb 2010 16:08:50 -0500 Subject: [Aria-users] wanderAndInteract??? In-Reply-To: <20100222133106.12125x49kpxbjh8g@www.nexusmail.uwaterloo.ca> References: <20100222133106.12125x49kpxbjh8g@www.nexusmail.uwaterloo.ca> Message-ID: <4B82F262.5020909@mobilerobots.com> Please do not send so many messages with the same problem in such a short timeframe. If we haven't answered a question in a few business days, feel free to inquire again. If something is urgent please just say it in the initial email, or at least the second email. We try to answer email to the list quickly, but some things, especially multithreaded deadlocking problems like this just take longer to answer, and to fit into our already busy schedules. I added these lines to the ArSphinx constructor, which makes the problem clearer: mySphinx->mutex.setLogName("SphinxWrap"); myStateMutex.setLogName("SphinxStateMutex"); myRecordingMutex.setLogName("SphinxRecordingMutex"); myRecordingMutex.setLog(true); And it looks like ArSphinx is locking the recording mutex in one thread, but that ArSoundsQueue is trying to unlock from a different thread. It looks like ArSphinx is intentionally designed this way, but that it isn't working now. Back between Aria 2.6 and Aria 2.7 we changed to using recursive mutexes, which may have broken this example. One thing you could try is going into ArSphinx::pauseListening() changing this: setRecordingState(PAUSED, true); to: setRecordingState(PAUSED, true); myRecordingMutex.unlock(); And then going into ArSphinx::resumeListening and commenting out the: myRecordingMutex.unlock(); I'm not sure if that'll work or not, but it at least then gets down and connects to the robot. You'd want to take out the myRecordingMutex.setLog(true) I suggested putting in the constructor if you're doing this though, or it'll spam a lot. If you really want to use this example I'd suggest downgrading to Aria 2.6, it should work fine there. Reed maintains ArSphinx but is away for a few more days on vacation, when he gets back he may have a better idea for a fix for the current version of Aria. Matt LaFary MobileRobots Inc Nurlan Mukanov wrote: > > hello, > > I think I compile wanderAndInteract properly, but > when I run wanderAndInteract file it gives this: > > "ArMutex::unblock: Trying to unlock a mutex ('') which this thread > ('ArSoundQueue' -1075424888 pid 4341) does not own" > > And it's stuck at that step without proceeding to next steps. > > Also, it's speaking "Calibrating recognition...Please, wait a moment" > > What could be the problem? > > Thanks, Nurlan > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From nmukanov at uwaterloo.ca Mon Feb 22 17:11:48 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Mon, 22 Feb 2010 17:11:48 -0500 Subject: [Aria-users] Voice commands. Message-ID: <20100222171148.19841cvrntxcyy4k@www.nexusmail.uwaterloo.ca> Hello. I sincerely apologize that I bothered you with the same multiple letters. The reason I did it is that I thought it did not reach you. Also, Yes, I need these problems solved as fast as possible, because I am working on exactly voice recognition and implementation and my supervisor requires from to do it. Also, I'd like to say that what Matt suggested to do with ArSphinx constructor did not help concerning wanderAndInteract example, though I appreciate his efforts. I don't need to do exactly this example, but just this one shows connections between voice commands and actions by robot, such as movement and using gripper. Could you, please, send some examples(.cpp, .dic, .lm) that I can use to demonstrate and understand the use of voice commands(to move robots, use the gripper and etc.) with detailed explanation. I am new to that type of work. I really appreciate your help. Best Regards, Nurlan Mukanov. From lafary at mobilerobots.com Tue Feb 23 11:54:35 2010 From: lafary at mobilerobots.com (Matt LaFary) Date: Tue, 23 Feb 2010 11:54:35 -0500 Subject: [Aria-users] Voice commands. In-Reply-To: <20100222171148.19841cvrntxcyy4k@www.nexusmail.uwaterloo.ca> References: <20100222171148.19841cvrntxcyy4k@www.nexusmail.uwaterloo.ca> Message-ID: <4B84084B.7000405@mobilerobots.com> The same problem will happen with any demo in Aria 2.7 that uses both speech synthesis and speech recognition. The changes I mentioned for the constructor were to help you debug the problem. The other changes I mentioned to pauseListening and resumeListening are the ones that may help, but I'm not sure. This is why I recommended you use Aria 2.6. That's not if you just want to use the wanderAndInteract demo, it's really if you want to use ArSpeechRec_Sphinx at all. Though you could also just use sphinx and cepstral yourself, there's nothing really magic to the sphinx wrapper we have. All the sphinx examples show is how to use sphinx and synthesis and a little of how to use the robot with it. For more than that you'll have to look at other examples, and write your own code to do the specific things you want. For an example using the gripper, look at Aria/examples/gripperExample.cpp. For an example of moving the robots, you'll want to look at the Aria examples as well, there are many that move the robot in many different ways. The Aria documentation is quite thorough too, though the examples are a good place to start. Matt LaFary MobileRobots Inc Nurlan Mukanov wrote: > Hello. > > I sincerely apologize that I bothered you with the same multiple > letters. The reason I did it is that I thought it did not reach you. > Also, Yes, I need these problems solved as fast as possible, because I > am working on exactly voice recognition and implementation and my > supervisor requires from to do it. Also, I'd like to say that what > Matt suggested to do with ArSphinx constructor did not help concerning > wanderAndInteract example, though I appreciate his efforts. I don't > need to do exactly this example, but just this one shows connections > between voice commands and actions by robot, such as movement and > using gripper. Could you, please, send some examples(.cpp, .dic, .lm) > that I can use to demonstrate and understand the use of voice > commands(to move robots, use the gripper and etc.) with detailed > explanation. I am new to that type of work. I really appreciate your > help. > > Best Regards, > Nurlan Mukanov. > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. > From H.Miri at 2007.hull.ac.uk Tue Feb 23 12:33:30 2010 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Tue, 23 Feb 2010 17:33:30 -0000 Subject: [Aria-users] ARIA in Visual Studio 2008 and Prolog Message-ID: <445800D8FD5D3D43878FD7D2842A3047D3D546@EXCL2VS2.adir.hull.ac.uk> Hi everyone, As you know, if you build and compile an ARIA program in Visual Studio 2008 (by simply pressing F5), it will try to connect to a simulator first. So if I have my MobileSim launched and ready, it will connect to it and run the program on it. How can I do this by calling an ARIA program from Prolog? I mean how can I get an ARIA program to start running in MobileSim by calling it from inside a Prolog program? As an example to clarify what my question is, imagine doing this within a Prolog program: start:- consult('Testbeds/SimulationWorld.pl'). Now, if I consult this tiny Prolog program and then type 'start.' at the prompt, it will consult and run the 'SimulationWorld.pl' file located in the 'Testbeds' folder. How should I call an ARIA program in Prolog in order to get it to connect to MobileSim and run the program on it? I would appreciate any pointers, H -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100223/8ecf9399/attachment-0001.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: not available Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100223/8ecf9399/attachment-0001.ksh From robotpracticum at gmail.com Wed Feb 24 17:07:39 2010 From: robotpracticum at gmail.com (Practicum Project) Date: Wed, 24 Feb 2010 17:07:39 -0500 Subject: [Aria-users] 7 DOF Arm Questions Message-ID: We just recently dived into coding our p3dx robot for a mail delivery system. I know there is a function for the 5 DOF arm in the Aria library, I think with the myArm object. Will there and is there one of those that works the same way for the new 7 DOF arm by Robai? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100224/1c026d5c/attachment.html From reed at mobilerobots.com Fri Feb 26 09:25:08 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 26 Feb 2010 09:25:08 -0500 Subject: [Aria-users] 7 DOF Arm Questions In-Reply-To: References: Message-ID: <4B87D9C4.7020507@mobilerobots.com> Practicum Project wrote: > Will there and is there one of those that > works the same way for the new 7 DOF arm by Robai? Hello, There are separate libraries for the Robai/Energid Cyton arm (provided by the manufacturer rather than us): http://robots.mobilerobots.com/wiki/Cyton_7DOF_Arm_Software These are pretty new so let us know if you run into any issues with them. From ecjones2040 at gmail.com Sun Feb 28 10:51:35 2010 From: ecjones2040 at gmail.com (Eric Jones) Date: Sun, 28 Feb 2010 10:51:35 -0500 Subject: [Aria-users] ArClientSwitchManager Message-ID: Hello aria-users, This is my first post. I hope to be a productive member of this mailing list by asking meaningful questions and hopefully giving quality responses when I can. Anyhow, my question concerns the ArClientSwitchManager. What I gather from the documentation is that I can use this class implement a clean way for an ArServerBase object to switch between multiple clients. If this is true, how would I best make use of this class? I am looking for perhaps an example of the* switch* command being used by a client and the* clientSwitch/1* method which handles the response to the switch command. Regards -Eric -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100228/65fcd0b5/attachment.html