From reed at mobilerobots.com Mon Mar 1 17:06:46 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 01 Mar 2010 17:06:46 -0500 Subject: [Aria-users] ArClientSwitchManager In-Reply-To: References: Message-ID: <4B8C3A76.9050706@mobilerobots.com> Hi Eric, ArClientSwitchManager is a special tool that lets a program connect to a "central server" -- ArClientSwitchManager connects to the central server, but then any client that connects via central server is redirected to the local server attached to the ArClientSwitchManager. (I.e. its role is reversed from what you supposed, and it is not used to select or switch between clients, but as an adapter between a robot server and the central server.) To just make a program connect to several servers on different robots, you can just use multiple ArClientBase objects to connect to them. On the other hand, for a server to handle multiple clients, this is taken care of by ArServerBase. I hope this helps, let me know if it is confusing. What exactly are you trying to set up? Best, Reed Eric Jones wrote: > 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 > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 ecjones2040 at gmail.com Fri Mar 5 11:10:55 2010 From: ecjones2040 at gmail.com (xplo59) Date: Fri, 05 Mar 2010 11:10:55 -0500 Subject: [Aria-users] ArClientSwitchManager In-Reply-To: fee753441002280751t556ae818n29dc35186e88752a@mail.gmail.com Message-ID: <1267805455.3902.19.camel@xplo59-laptop> Hi Reed, Thank you for clarifying the use of ArClientSwitchManager. Can you give me a brief use-case for objects of this class? As for what I am hoping to accomplish - my goal is to use Aria in some multi-robot collaboration experiments. As you have suggested, I am going to try using multiple ArClientBase objects to connect to ArServerBase objects on different robots. Right now, one program is going to handle all of the ArClientBase objects but ultimately I would like for the programs handling my clients to be distributed amongst hosts. Is there anything that you may want to suggest or any common pitfalls that you may want to warn me about? Also, would it be possible for you to direct me toward some documentation regarding ArNetworking in general. I am immensely grateful for the on-line class reference but is there another body of documentation that is perhaps unknown to me. Again, thank you for your time. Regards, Eric From reed at mobilerobots.com Mon Mar 8 16:25:35 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 08 Mar 2010 16:25:35 -0500 Subject: [Aria-users] ArClientSwitchManager In-Reply-To: <1267805455.3902.19.camel@xplo59-laptop> References: <1267805455.3902.19.camel@xplo59-laptop> Message-ID: <4B956B4F.9030501@mobilerobots.com> > Thank you for clarifying the use of ArClientSwitchManager. Can you give > me a brief use-case for objects of this class? You would use it to let a program connect to a central server (such as the one in the ARNL examples) . > > As for what I am hoping to accomplish - my goal is to use Aria in some > multi-robot collaboration experiments. As you have suggested, I am going > to try using multiple ArClientBase objects to connect to ArServerBase > objects on different robots. Right now, one program is going to handle > all of the ArClientBase objects but ultimately I would like for the > programs handling my clients to be distributed amongst hosts. Is there > anything that you may want to suggest or any common pitfalls that you > may want to warn me about? No, we have no specific framework or method for doing this, other than the "central server" classes for connecting to multiple robots via the one central connection. These classes are relatively new and don't have a lot of examples or documentation, so let us know if you see any problems or holes in what docs do exist. > > Also, would it be possible for you to direct me toward some > documentation regarding ArNetworking in general. I am immensely grateful > for the on-line class reference but is there another body of > documentation that is perhaps unknown to me. Only the ARIA and ArNetworking API reference manuals, and the example programs. If you feel that anything in particular is especially missing, again, let us know; the ArNetworking documentation is still much less complete than ARIA's. Reed From long.sheng at dal.ca Wed Mar 10 14:21:48 2010 From: long.sheng at dal.ca (Long Sheng) Date: Wed, 10 Mar 2010 15:21:48 -0400 Subject: [Aria-users] Window 7 & ARIA References: <1267805455.3902.19.camel@xplo59-laptop> Message-ID: <000901cac086$ee30d9d0$7a57ad81@amc1> Hi All I wrote a code and runs it well on my desk computer which is with windows XP and ARIA latest version, but when I run the code with my laptop which is with windows 7, it gives me the following warning 1>LINK : cannot create map for .ILK file; linking nonincrementally 1>LINK : fatal error LNK1104: cannot open file '..\..\..\..\..\..\..\Program Files\MobileRobots\Aria\bin\try1.exe' The code is wrote in Microsoft Visual C++ 2008 Expression Edition, when I created the project, I modified the property of the project, such as : Add C:\Program Files\MobileRobots\Aria\include to Additional Include Directories in the General subsection of the C++ section. and those project settings can be found at http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings the thing is the code can be compiled and run well on my desk computer but not on my laptop, the only differece is the operating system (code, project settings arre the SAME). Could anyone tell me what's wrong with it? Is that means ARIA does not work well with Window 7? Any suggestion regarding on what I can do to solve that problem is so welcome! Best, Long From reed at mobilerobots.com Wed Mar 10 15:14:17 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 10 Mar 2010 15:14:17 -0500 Subject: [Aria-users] Window 7 & ARIA In-Reply-To: <000901cac086$ee30d9d0$7a57ad81@amc1> References: <1267805455.3902.19.camel@xplo59-laptop> <000901cac086$ee30d9d0$7a57ad81@amc1> Message-ID: <4B97FD99.7060802@mobilerobots.com> Hi Long, are there any more error messages? What is the Linker's "Output File" in the project properties? (And what is the General "Output Directory"?) [For the ARIA examples, we use "$(OutDir)/$(ProjectName)DebugVC9.exe" for Output File if in debug mode "../bin" for Output Directory"... if you want to simplify you can just use "../bin/try1.exe" as the Output File] Is try1.exe open when you build the project? If it is, Windows won't be able to write the new file. Reed Long Sheng wrote: > Hi All > > I wrote a code and runs it well on my desk computer which is with windows XP > and ARIA latest version, but when I run the code with my laptop which is > with windows 7, it gives me the following warning > > 1>LINK : cannot create map for .ILK file; linking nonincrementally > 1>LINK : fatal error LNK1104: cannot open file '..\..\..\..\..\..\..\Program > Files\MobileRobots\Aria\bin\try1.exe' > > The code is wrote in Microsoft Visual C++ 2008 Expression Edition, when I > created the project, I modified the property of the project, such as : > Add C:\Program Files\MobileRobots\Aria\include to Additional Include > Directories in the General subsection of the C++ section. > > and those project settings can be found at > http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings > > the thing is the code can be compiled and run well on my desk computer but > not on my laptop, the only differece is the operating system (code, project > settings arre the SAME). Could anyone tell me what's wrong with it? Is that > means ARIA does not work well with Window 7? Any suggestion regarding on > what I can do to solve that problem is so welcome! > > Best, > > > Long > > _______________________________________________ > 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 syun at g.clemson.edu Wed Mar 10 15:26:20 2010 From: syun at g.clemson.edu (Seok Bae Yun) Date: Wed, 10 Mar 2010 15:26:20 -0500 Subject: [Aria-users] Changing sonar frequency Message-ID: <000c01cac08f$f4b7e830$de27b890$@clemson.edu> Hi All, I want to change the beam pattern of the sonar which P3AT has and the scanning pattern. Is there anybody who knows the way to control the scanning of the sonar individually or modulating the sonar beam? I am using VC++ 2008 but any other type of the development environment is OK for me. Thanks, Seok -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100310/632be8f0/attachment-0001.html From long.sheng at dal.ca Wed Mar 10 15:58:47 2010 From: long.sheng at dal.ca (Long Sheng) Date: Wed, 10 Mar 2010 16:58:47 -0400 Subject: [Aria-users] Window 7 & ARIA References: <1267805455.3902.19.camel@xplo59-laptop><000901cac086$ee30d9d0$7a57ad81@amc1> <4B97FD99.7060802@mobilerobots.com> Message-ID: <001c01cac094$7a76cfa0$7a57ad81@amc1> Hi Reed, There is no more messages. The linker output file in the project prop is $(OutDir)\$(ProjectName).exe Output Directory has been set to \.\.\.\Aria\bin as suggeted by that website. try1.exe is not open when we build the project. It hasn't been created yet. When we look in "\Program Files\MobileRobots\Aria\bin\ " folder its not there. By the way, Is operating system a factor? i.e. can Aria work with Windows 7? Long ----- Original Message ----- From: "Reed Hedges" To: "Help,discussion and announcements for MobileRobots' Advanced Robot Interfacefor Applications (ARIA) " Sent: Wednesday, March 10, 2010 4:14 PM Subject: Re: [Aria-users] Window 7 & ARIA > > Hi Long, are there any more error messages? > > What is the Linker's "Output File" in the project properties? (And what > is the > General "Output Directory"?) [For the ARIA examples, we use > "$(OutDir)/$(ProjectName)DebugVC9.exe" for Output File if in debug mode > "../bin" > for Output Directory"... if you want to simplify you can just use > "../bin/try1.exe" as the Output File] > > Is try1.exe open when you build the project? If it is, Windows won't be > able to > write the new file. > > Reed > > > > Long Sheng wrote: >> Hi All >> >> I wrote a code and runs it well on my desk computer which is with windows >> XP >> and ARIA latest version, but when I run the code with my laptop which is >> with windows 7, it gives me the following warning >> >> 1>LINK : cannot create map for .ILK file; linking nonincrementally >> 1>LINK : fatal error LNK1104: cannot open file >> '..\..\..\..\..\..\..\Program >> Files\MobileRobots\Aria\bin\try1.exe' >> >> The code is wrote in Microsoft Visual C++ 2008 Expression Edition, when I >> created the project, I modified the property of the project, such as : >> Add C:\Program Files\MobileRobots\Aria\include to Additional Include >> Directories in the General subsection of the C++ section. >> >> and those project settings can be found at >> http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings >> >> the thing is the code can be compiled and run well on my desk computer >> but >> not on my laptop, the only differece is the operating system (code, >> project >> settings arre the SAME). Could anyone tell me what's wrong with it? Is >> that >> means ARIA does not work well with Window 7? Any suggestion regarding on >> what I can do to solve that problem is so welcome! >> >> Best, >> >> >> Long >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > From reed at mobilerobots.com Wed Mar 10 16:11:53 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 10 Mar 2010 16:11:53 -0500 Subject: [Aria-users] Window 7 & ARIA In-Reply-To: <001c01cac094$7a76cfa0$7a57ad81@amc1> References: <1267805455.3902.19.camel@xplo59-laptop><000901cac086$ee30d9d0$7a57ad81@amc1> <4B97FD99.7060802@mobilerobots.com> <001c01cac094$7a76cfa0$7a57ad81@amc1> Message-ID: <4B980B19.9080106@mobilerobots.com> Long Sheng wrote: > Hi Reed, > > There is no more messages. > > The linker output file in the project prop is $(OutDir)\$(ProjectName).exe > Output Directory has been set to \.\.\.\Aria\bin as suggeted by that > website. Try some other Output Directory that you are sure exists. What happens if you put in the absolute path C:\Program Files\MobileRobots\Aria\bin rather than the relative path? > By the way, Is operating system a factor? i.e. can Aria work with Windows 7? It should work, unless something strange but fundamental has changed in Windows 7. I haven't tried Windows 7 yet. From budsbd at gmail.com Wed Mar 10 16:38:31 2010 From: budsbd at gmail.com (Pedro d'Aquino) Date: Wed, 10 Mar 2010 18:38:31 -0300 Subject: [Aria-users] Window 7 & ARIA In-Reply-To: <4B980B19.9080106@mobilerobots.com> References: <1267805455.3902.19.camel@xplo59-laptop> <000901cac086$ee30d9d0$7a57ad81@amc1> <4B97FD99.7060802@mobilerobots.com> <001c01cac094$7a76cfa0$7a57ad81@amc1> <4B980B19.9080106@mobilerobots.com> Message-ID: <9f2afcd51003101338i4535807y8ba24e69351463b3@mail.gmail.com> I can report that ARIA works just fine on Windows 7, so it's not an OS issue. Long, if you haven't tried that already, run Visual C++ as administrator. That way you can write to privileged locations such as the Program Files folder. Regards, Pedro On Wed, Mar 10, 2010 at 6:11 PM, Reed Hedges wrote: > Long Sheng wrote: > > Hi Reed, > > > > There is no more messages. > > > > The linker output file in the project prop is > $(OutDir)\$(ProjectName).exe > > Output Directory has been set to \.\.\.\Aria\bin as suggeted by that > > website. > > Try some other Output Directory that you are sure exists. What happens if > you > put in the absolute path C:\Program Files\MobileRobots\Aria\bin rather than > the > relative path? > > > > By the way, Is operating system a factor? i.e. can Aria work with Windows > 7? > > It should work, unless something strange but fundamental has changed in > Windows > 7. I haven't tried Windows 7 yet. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100310/0a2a8ac7/attachment.html From tsokas at ekt.gr Thu Mar 11 00:55:02 2010 From: tsokas at ekt.gr (Nicolas Tsokas) Date: Thu, 11 Mar 2010 07:55:02 +0200 Subject: [Aria-users] Window 7 & ARIA In-Reply-To: <9f2afcd51003101338i4535807y8ba24e69351463b3@mail.gmail.com> References: <1267805455.3902.19.camel@xplo59-laptop><000901cac086$ee30d9d0$7a57ad81@amc1> <4B97FD99.7060802@mobilerobots.com><001c01cac094$7a76cfa0$7a57ad81@amc1> <4B980B19.9080106@mobilerobots.com> <9f2afcd51003101338i4535807y8ba24e69351463b3@mail.gmail.com> Message-ID: Long, before trying to run Visual C++ as administrator, try running your program (executable) as administrator first. Nicolas __________________________ Nicolas Tsokas National Technical University of Athens, Greece Email: tsokas at ekt.gr _____ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Pedro d'Aquino Sent: Wednesday, March 10, 2010 11:39 PM To: Help,discussion and announcements for MobileRobots' Advanced Robot Interfacefor Applications (ARIA) Subject: Re: [Aria-users] Window 7 & ARIA I can report that ARIA works just fine on Windows 7, so it's not an OS issue. Long, if you haven't tried that already, run Visual C++ as administrator. That way you can write to privileged locations such as the Program Files folder. Regards, Pedro On Wed, Mar 10, 2010 at 6:11 PM, Reed Hedges wrote: Long Sheng wrote: > Hi Reed, > > There is no more messages. > > The linker output file in the project prop is $(OutDir)\$(ProjectName).exe > Output Directory has been set to \.\.\.\Aria\bin as suggeted by that > website. Try some other Output Directory that you are sure exists. What happens if you put in the absolute path C:\Program Files\MobileRobots\Aria\bin rather than the relative path? > By the way, Is operating system a factor? i.e. can Aria work with Windows 7? It should work, unless something strange but fundamental has changed in Windows 7. I haven't tried Windows 7 yet. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100311/0b516f21/attachment.html From reed at mobilerobots.com Thu Mar 11 10:05:23 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 11 Mar 2010 10:05:23 -0500 Subject: [Aria-users] Changing sonar frequency In-Reply-To: <000c01cac08f$f4b7e830$de27b890$@clemson.edu> References: <000c01cac08f$f4b7e830$de27b890$@clemson.edu> Message-ID: <4B9906B3.8050107@mobilerobots.com> Hi Seok, The order and timing in which the sonar are fired and polled can be changed in the firmware (ARCOS) parameters. See the robot manual and ARCOS README for details. Timing can affect maximum range. It is possible to calibrate each sonar transducer as well but this is usually not needed. Reed Seok Bae Yun wrote: > Hi All, > > > > I want to change the beam pattern of the sonar which P3AT has and the > scanning pattern. > > Is there anybody who knows the way to control the scanning of the sonar > individually or modulating the sonar beam? > > I am using VC++ 2008 but any other type of the development environment > is OK for me. > > > > Thanks, > > Seok > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From long.sheng at Dal.Ca Thu Mar 11 13:10:10 2010 From: long.sheng at Dal.Ca (Long Sheng) Date: Thu, 11 Mar 2010 14:10:10 -0400 Subject: [Aria-users] Window 7 & ARIA References: <1267805455.3902.19.camel@xplo59-laptop><000901cac086$ee30d9d0$7a57ad81@amc1> <4B97FD99.7060802@mobilerobots.com><001c01cac094$7a76cfa0$7a57ad81@amc1> <4B980B19.9080106@mobilerobots.com> <9f2afcd51003101338i4535807y8ba24e69351463b3@mail.gmail.com> Message-ID: <001801cac146$1728c5e0$7a57ad81@amc1> Hi Pedro Thanks for your suggestion, I did that as administrator and the error still there, it's kind of wired. long ----- Original Message ----- From: Pedro d'Aquino To: Help,discussion and announcements for MobileRobots' Advanced Robot Interfacefor Applications (ARIA) Sent: Wednesday, March 10, 2010 5:38 PM Subject: Re: [Aria-users] Window 7 & ARIA I can report that ARIA works just fine on Windows 7, so it's not an OS issue. Long, if you haven't tried that already, run Visual C++ as administrator. That way you can write to privileged locations such as the Program Files folder. Regards, Pedro On Wed, Mar 10, 2010 at 6:11 PM, Reed Hedges wrote: Long Sheng wrote: > Hi Reed, > > There is no more messages. > > The linker output file in the project prop is $(OutDir)\$(ProjectName).exe > Output Directory has been set to \.\.\.\Aria\bin as suggeted by that > website. Try some other Output Directory that you are sure exists. What happens if you put in the absolute path C:\Program Files\MobileRobots\Aria\bin rather than the relative path? > By the way, Is operating system a factor? i.e. can Aria work with Windows 7? It should work, unless something strange but fundamental has changed in Windows 7. I haven't tried Windows 7 yet. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. ------------------------------------------------------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100311/04efbe29/attachment.html From jlknuth at gmail.com Fri Mar 12 17:12:41 2010 From: jlknuth at gmail.com (Joseph Knuth) Date: Fri, 12 Mar 2010 17:12:41 -0500 Subject: [Aria-users] ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Error Message-ID: Often when I run my code, I get the flowing errors. Loaded robot parameters from p3dx-sh.p ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Start Time: 5:16:45:10:0 Current Time: 5:16:44:18:290 ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Warning: Task 'Packet Handler' took 290 ms to run (longer than the 250 warning time) Warning: ArRobot sync tasks too long at 290 ms, (100 ms normal 250 ms warning) ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Warning: Task 'Packet Handler' took 300 ms to run (longer than the 250 warning time) Warning: ArRobot sync tasks too long at 300 ms, (100 ms normal 250 ms warning) ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Warning: Task 'Packet Handler' took 299 ms to run (longer than the 250 warning time) Warning: ArRobot sync tasks too long at 299 ms, (100 ms normal 250 ms warning) ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Does anyone have an idea where I might start tracking down the problem? I've tried it with different computers and different usb-serial cables, so I don't think the problem lies there. Thanks for any help, Joe From paulmuntean at gmail.com Sat Mar 13 14:14:13 2010 From: paulmuntean at gmail.com (Paul Muntean) Date: Sat, 13 Mar 2010 21:14:13 +0200 Subject: [Aria-users] please help Message-ID: <4fe95ccd1003131114q336dbba8r1fd41a7547c19d48@mail.gmail.com> I have the task to implement in a Aria a control algoritm for the Pioneer 2. I use A* algoritm witch is giving me a path formed of nodes of coordinates x y values. I don?t know how to implement a program so that it sends the robot on a map the first coordinat than to the second and so on .In the end folowing the path to his target. if the sensors detect an obstacle on the real world wich is exactly mapped in MobilSim then it has to recalculate the path from that point to the final destination. Any idee? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100313/19b377e0/attachment.html From paulmuntean at gmail.com Mon Mar 15 15:14:38 2010 From: paulmuntean at gmail.com (Paul Muntean) Date: Mon, 15 Mar 2010 21:14:38 +0200 Subject: [Aria-users] please help Message-ID: <4fe95ccd1003151214t2cb5e7e5oce656c16cd3c3eee@mail.gmail.com> I need to control a robot following a path formed by coordinates on a map. Like 1 1 ,2 2 , then 3 3 after then ........... in the end the final node. How should the program implemented in Aria look like that solves this ? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100315/63e27d7e/attachment.html From aricc.sp at gmail.com Mon Mar 15 23:13:00 2010 From: aricc.sp at gmail.com (ARICC SP) Date: Tue, 16 Mar 2010 11:13:00 +0800 Subject: [Aria-users] wanderAndInteract problem Message-ID: <31fbf1841003152013m69e78a82pda5422606be77399@mail.gmail.com> Hi Reed, I'm having some problem using an example program called "wanderAndInteract". This program was previously tested with a locking mutex. I had made some changes to the program from the guide of a thread which posted last month. It seems to have some problem. The program is able to connect to the robot but it seems that the speech commands don't trigger the movements. What could be the problem? Below are the changes I had made to ArSphinx.cpp. Hope to hear from you soon. Add these to ArSphinx constructor: mySphinx->mutex.setLogName("SphinxWrap"); myStateMutex.setLogName("SphinxStateMutex"); myRecordingMutex.setLogName("SphinxRecordingMutex"); myRecordingMutex.setLog(true); 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(); -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100316/f4c619d3/attachment.html From reed at mobilerobots.com Tue Mar 16 10:02:46 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 16 Mar 2010 10:02:46 -0400 Subject: [Aria-users] ArRobotPacketReceiver::receivePacket: bad packet, bad checksum Error In-Reply-To: References: Message-ID: <4B9F8F86.1080801@mobilerobots.com> Joseph Knuth wrote: > Often when I run my code, I get the flowing errors. > > Loaded robot parameters from p3dx-sh.p > ArRobotPacketReceiver::receivePacket: bad packet, bad checksum This error usually indicates some problem in the serial communications. The simplest and ideal connection is RS-232 only without a USB converter, so you can try that to see if it isolates the problem. > Warning: Task 'Packet Handler' took 290 ms to run (longer than the 250 > warning time) > Warning: ArRobot sync tasks too long at 290 ms, (100 ms normal 250 ms warning) This indicates that the ArRobot task loop is running slower than 100ms, and in particular it's taking a long time to read packet data from the robot. So I would investigate the serial communications a bit more. One thing to check is whether the serial port is sharing IRQs with other devices, this can cause problems on some computers. What operating system is ARIA running in? From reed at mobilerobots.com Tue Mar 16 10:11:21 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 16 Mar 2010 10:11:21 -0400 Subject: [Aria-users] please help In-Reply-To: <4fe95ccd1003151214t2cb5e7e5oce656c16cd3c3eee@mail.gmail.com> References: <4fe95ccd1003151214t2cb5e7e5oce656c16cd3c3eee@mail.gmail.com> Message-ID: <4B9F9189.6030908@mobilerobots.com> Hi Paul, ARIA provides two ways to control the robot, direct motion command and actions. You can see the ARIA reference manual for more explanation. Also see the example programs in the "examples" directory. Direct motion command is the simplest to program, but is more limited. Using this way, you would include a loop in your control program which repeatedly checks the current position of the robot, compares it to the position you want to drive towards, and issues rotational and translational velocity commands based on the difference (use the vel() and rotVel() ArRobot methods). (Draw a diagram to help visualize this situation.) Actions let you have more sophisticated behavior. Using this way, you would write an ArAction subclass with a virtual fire() method. This method will be automatically called repeatedly. Here you do the same thing: determine what translation and rotational velocities are needed to move the robot to the next position. However, instead of just commanding the robot, you return these desired velocities from the fire() method and ARIA will combine them with other actions and send the commands. Using actions you can mix in different actions which, for example, prevent the robot from driving too close to sensed obstacles. You could also separate the rotational and translational path following actions if you decide that is better than doing them together for whatever reason. These are basic suggestions, you will need to tailor your implementation to your specific algorithm. Remember that robot position is received from the robot every 100ms. Also, actions are invoked every 100ms. Don't use these two methods in the same program, they can interfere with each other. Hope this helps get you started. Again, see the ARIA reference manual for a bit more explanation, and the examples such as wander.cpp and actionExample.cpp. Reed From nmukanov at uwaterloo.ca Tue Mar 16 11:57:10 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Tue, 16 Mar 2010 11:57:10 -0400 Subject: [Aria-users] Robot acts through the text file Message-ID: <20100316115710.42322jh3kfbhql4w@www.nexusmail.uwaterloo.ca> Hello, aria users. Could you help me with the task that I face. If I say some voice command the recognition program(on the base station) will recognizes my words and sent the command in form of the text file to the robot(PeopleBot).How can robot using these commands(in form of text file) make some actions??? For example, if some text file appears(for example :"move 1 meter forward") in some directory, application that is responsible for the movement should read from this file and do the action(move 1 meter forward). On the other hand, if file consists command: "move gripper up" robot should move gripper. I know that there are some modifications should be done inside .cpp files in ARIA. But could you, please, give an example how can it be done? Besides, all these actions should be immediate right after I said my voice command to my base station. Thanks a lot Nurlan. From reed at mobilerobots.com Tue Mar 16 17:57:30 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 16 Mar 2010 17:57:30 -0400 Subject: [Aria-users] MobileRobots has a new website Message-ID: <4B9FFECA.7010708@mobilerobots.com> MobileRobots has a new website at Please let us know what you think. Is anything about it confusing? Is it missing any product or other information that you need? We are also starting to share videos, news about MobileRobots and upcoming events, products and projects, etc. on Twitter and Facebook: http://www.facebook.com/pages/MobileRobots-Inc/357632966099 http://www.twitter.com/MobileRobotsInc If you have a publication, video, web page or message about your robotics work you would like to share, send it and we can post it for others to discover. Email this list, or me, or send a message to us on Facebook. On Twitter, I'll see your message if you refer to @MobileRobotsInc, #roboticsresearch, #robotresearch, #roboticseducation, #roboticsedu, #robotedu, or use the name of a product: #pioneer3, #p3dx, #p3at, #amigobot, #powerbot, #peoplebot, #patrolbot, #guiabot, #seekur, #seekurjr, #arnl, #mobilesim. In general, please let me know how we can make these services the most useful for you and your work. Our support site and knowledge base for research customers remains at , check there for software updates and documentation. As always, let me know if there is anything missing or confusing about that site as well. Thanks! Reed -- Reed Hedges Developer Support / Software MobileRobots Inc. Find downloads, documentation, FAQ, mailing lists and more at: From paulmuntean at gmail.com Wed Mar 17 08:16:06 2010 From: paulmuntean at gmail.com (Paul Muntean) Date: Wed, 17 Mar 2010 14:16:06 +0200 Subject: [Aria-users] I want to my Pioneer 2 to follow a path described by some coordinates x and y Message-ID: <4fe95ccd1003170516r7c632febu1a98ba88c0fe8c49@mail.gmail.com> I must achive this by usung turn and move comands. The problems is that i don?t know how to separate the commands so that each starts when the previous has finished. I have seen all the examples that Aria offers but they dont?t do what i want. Please help I use a Win Vista PC. Cheers -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100317/8dd63506/attachment.html From paulmuntean at gmail.com Wed Mar 17 08:17:40 2010 From: paulmuntean at gmail.com (Paul Muntean) Date: Wed, 17 Mar 2010 14:17:40 +0200 Subject: [Aria-users] I want to my Pioneer 2 to follow a path described by some coordinates x and y In-Reply-To: <4fe95ccd1003170516r7c632febu1a98ba88c0fe8c49@mail.gmail.com> References: <4fe95ccd1003170516r7c632febu1a98ba88c0fe8c49@mail.gmail.com> Message-ID: <4fe95ccd1003170517t6ae9aa25tbd6e55700a6b61d0@mail.gmail.com> On Wed, Mar 17, 2010 at 2:16 PM, Paul Muntean wrote: > I must achive this by usung turn and move comands. > The problems is that i don?t know how to separate the commands so that each > starts when the previous has finished. > I have seen all the examples that Aria offers but they dont?t do what i > want. > > Please help I use a Win Vista PC. > > Cheers > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100317/3e8ff1fb/attachment.html From celiax2y at gmail.com Fri Mar 19 19:57:11 2010 From: celiax2y at gmail.com (xiaoyu xu) Date: Fri, 19 Mar 2010 16:57:11 -0700 (PDT) Subject: [Aria-users] Invitation to connect on LinkedIn Message-ID: <1830144369.13962942.1269043031808.JavaMail.app@ech3-cdn07.prod> LinkedIn ------------ I'd like to add you to my professional network on LinkedIn. - xiaoyu xiaoyu xu Student at University of California, Los Angeles China Confirm that you know xiaoyu xu https://www.linkedin.com/e/isd/1161339798/bfBJV3Wz/ ------ (c) 2010, LinkedIn Corporation -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100319/6942ba28/attachment.html From celiax2y at gmail.com Fri Mar 19 19:57:11 2010 From: celiax2y at gmail.com (xiaoyu xu) Date: Fri, 19 Mar 2010 16:57:11 -0700 (PDT) Subject: [Aria-users] Invitation to connect on LinkedIn Message-ID: <1087863529.13962944.1269043031874.JavaMail.app@ech3-cdn07.prod> LinkedIn ------------ I'd like to add you to my professional network on LinkedIn. - xiaoyu xiaoyu xu Student at University of California, Los Angeles China Confirm that you know xiaoyu xu https://www.linkedin.com/e/isd/1161339800/Cnotq2AZ/ ------ (c) 2010, LinkedIn Corporation -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100319/e51d1144/attachment.html From nmukanov at uwaterloo.ca Mon Mar 22 14:19:40 2010 From: nmukanov at uwaterloo.ca (Nurlan Mukanov) Date: Mon, 22 Mar 2010 14:19:40 -0400 Subject: [Aria-users] wanderAndInteract Message-ID: <20100322141940.94954zjjumngso4k@www.nexusmail.uwaterloo.ca> Hello, I have a question concerning wnaderAndInteract example. Why when running it gives the mistake: "INFO: uttproc.c(1656): LM="wander" Ar.Mutex::unlock: trying to unlock a mutex ('') which this thread('ArSoundQueue' -1079694712pid 4035) does not own" Actually I already asked this question before, but possible solution that was given didn't help. I appreciate any efforts. Nurlan PS: Can I send messages from another email(gmail.com)? This previous answer and question: 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: [Show Quoted Text - 31 lines][Hide Quoted Text] 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 Long.Sheng at dal.ca Mon Mar 22 16:59:11 2010 From: Long.Sheng at dal.ca (Long Sheng) Date: Mon, 22 Mar 2010 17:59:11 -0300 Subject: [Aria-users] communicate with robots via a USB to Serial port Message-ID: <20100322175911.jxblntyf8cgwkko0@my8.dal.ca> Hi Everyone I want to communicate with my P3 robot from my laptop via a USB to Serial cable (since there is no serial port on my laptop), now the cable's driver has been installed on my laptop (with windows XP) and it can be found and used on my laptop. I use MS visual C++ 2008 Express Edition to write the code and compile the code with ARIA2.7.2, my question is 1. how to get the serial port number, e.g. com3, that the driver assigned for the cable? 2. how to tell visual C++ 2008 Express Edition and ARIA to use that port (e.g. COM3) to communicate with the robot? Since i'm a beginner, please provide details for how to do that, i appreciate very much for your kind help! Best, Long From mirco.golutti at gmail.com Tue Mar 23 09:13:34 2010 From: mirco.golutti at gmail.com (mirco golutti) Date: Tue, 23 Mar 2010 14:13:34 +0100 Subject: [Aria-users] PROBLEM TO CONNECT SICK LMS111 WITH ARIA Message-ID: <33296a1d1003230613n50283c10n547860698a5a19c5@mail.gmail.com> HI i want to use laser scanner SICK LMS111 with ARIA framework. The SICK LMS111 is connect to the PC via Ethernet port at the ip address : 160.78.28.127 : 2111. How can I connect this laser scanner to PC with ARIA framework? I run the example in /usr/local/ARIA/examples/ sickRobotExample, but this example don't run correctly because I don't read the laser beam. if i write ./sickRobotExample -help, the example print this parameter: Robot options: -remoteHost -rh -robotPort -rp -robotBaud -rb -remoteRobotTcpPort -rrtp -remoteIsSim -ris -robotLogPacketsReceived -rlpr -robotLogPacketsSent -rlps -robotLogMovementReceived -rlmr -robotLogMovementSent -rlms -robotLogVelocitiesReceived -rlvr -robotLogActions -rla Options for ArLaserConnector: Options shown are for currently set up lasers. Activate lasers with -laserType option to see options for that laser (e.g. "-help -laserType1 lms2xx"). Valid laser types are: See docs for details. Laser: ("laser") -laserType -lt -connectLaser -cl -laserPort -lp -laserPortType -lpt -remoteLaserTcpPort -rltp -laserFlipped -lf -laserMaxRange -lmr is an unsigned int less than 32000 -laserDegrees <100|180> -ld <100|180> -laserIncrement -li -laserUnits <1mm|1cm|10cm> -lu <1mm|1cm|10cm> -laserReflectorBits <1ref|2ref|3ref> -lrb <1ref|2ref|3ref> -laserPowerControlled -lpc -laserStartingBaud <9600|19200|38400> -lsb <9600|19200|38400> -laserAutoBaud <9600|19200|38400> -lab <9600|19200|38400> -laserAdditionalIgnoreReadings -lair isn't there any option to insert ip address? what is the different to laserPort, laserPortType and remoteLaserTcpPort ? how can i read the laser beam of SICK LMS111?is it possible? why it isn't correct this command? ./sickRobotExample -rp /dev/ttyUSB0 -lt lms1xx -rltp 2111 -ltp tcp THANK YOU BEST REGARDS mirco golutti University of Parma -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100323/f548bbe5/attachment-0001.html From reed at mobilerobots.com Wed Mar 24 11:57:48 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 11:57:48 -0400 Subject: [Aria-users] wanderAndInteract In-Reply-To: <20100322141940.94954zjjumngso4k@www.nexusmail.uwaterloo.ca> References: <20100322141940.94954zjjumngso4k@www.nexusmail.uwaterloo.ca> Message-ID: <4BAA367C.1010804@mobilerobots.com> Hi Nurlan, I'm working on how to fix this in ArSphinx. I'll let you know when I have something. Reed Nurlan Mukanov wrote: > Hello, > > I have a question concerning wnaderAndInteract example. Why when > running it gives the mistake: > > "INFO: uttproc.c(1656): LM="wander" > Ar.Mutex::unlock: trying to unlock a mutex ('') which this > thread('ArSoundQueue' -1079694712pid 4035) does not own" > > Actually I already asked this question before, but possible solution > that was given didn't help. > > I appreciate any efforts. > Nurlan > PS: Can I send messages from another email(gmail.com)? > > This previous answer and question: > > > 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: > > [Show Quoted Text - 31 lines][Hide Quoted Text] > > 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 reed at mobilerobots.com Wed Mar 24 12:02:22 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 12:02:22 -0400 Subject: [Aria-users] communicate with robots via a USB to Serial port In-Reply-To: <20100322175911.jxblntyf8cgwkko0@my8.dal.ca> References: <20100322175911.jxblntyf8cgwkko0@my8.dal.ca> Message-ID: <4BAA378E.2080908@mobilerobots.com> Hi Long, > 1. how to get the serial port number, e.g. com3, that the driver assigned for > the cable? You can see a list of serial ports in the Device Manager (open the System control panel, choose the Hardware tab, and click Device Manager). > 2. how to tell visual C++ 2008 Express Edition and ARIA to use that port (e.g. > COM3) to communicate with the robot? There are command line options that choose the serial port: For example if it's COM3, then run the program with "-robotPort COM3" or "-rp COM3". If this is how you will always connect to the robot, you can create a parameter file for this robot that sets the RobotPort to the com port. Name the parameter file for the robot's name (stored in the robot firmware configuration, ARIA prints it out upon connecting). See the Robot Parameter Files section of the ARIA reference manual (installed along with ARIA) for a bit more discussion on this. Reed From reed at mobilerobots.com Wed Mar 24 12:09:47 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 12:09:47 -0400 Subject: [Aria-users] PROBLEM TO CONNECT SICK LMS111 WITH ARIA In-Reply-To: <33296a1d1003230613n50283c10n547860698a5a19c5@mail.gmail.com> References: <33296a1d1003230613n50283c10n547860698a5a19c5@mail.gmail.com> Message-ID: <4BAA394B.7010406@mobilerobots.com> hi Mirco, Give the IP address as the laserPort, i.e. I think these options: -laserType lms1xx -laserPortType tcp -laserPort 160.78.28.127 should work. You can omit -remoteLaserTcpPort since the default value for the LMS111 is 2111. You can make a parameter file for your robot (name the file after the robot's name; this name is printed when ARIA connects and may be changed in the robot firmware configuration) that sets these values more permanently (copy the file for your robot's type and change the Laser section); then you don't need to give the command line options. Reed From reed at mobilerobots.com Wed Mar 24 12:15:08 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 12:15:08 -0400 Subject: [Aria-users] I want to my Pioneer 2 to follow a path described by some coordinates x and y In-Reply-To: <4fe95ccd1003170516r7c632febu1a98ba88c0fe8c49@mail.gmail.com> References: <4fe95ccd1003170516r7c632febu1a98ba88c0fe8c49@mail.gmail.com> Message-ID: <4BAA3A8C.40902@mobilerobots.com> Hi Paul, Since the robot executes commands asynchronously (i.e. while your program continues running), you will need to continuously check whether the robot has achieved the command. However, there will be some error, so you need to decide how close to achieving the command is close enough (e.g. 5mm or 10mm or one degree, etc.) ARIA provides methods for checking if a MOVE command finishes: ArRobot::isMoveDone() and if a HEAD command finishes: ArRobot::isHeadingDone(). You can configure the "good enough" values with setMoveDoneDist() and setHeadingDoneDiff(). Or you can check the position of the robot and compare it yourself against what the final position should be. (ArMath has some angle comparison functions which are useful). You can use a sensor interpretation or robot task callback function to do the checking. (Or if you used ArRobot::runAsync(), in aloop lock the robot object, check, unlock, then ArUtil::sleep for 100ms (important). ) Reed Paul Muntean wrote: > I must achive this by usung turn and move comands. > The problems is that i don?t know how to separate the commands so that > each starts when the previous has finished. > I have seen all the examples that Aria offers but they dont?t do what i > want. > > Please help I use a Win Vista PC. > > Cheers > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Mar 24 12:17:18 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 12:17:18 -0400 Subject: [Aria-users] Robot acts through the text file In-Reply-To: <20100316115710.42322jh3kfbhql4w@www.nexusmail.uwaterloo.ca> References: <20100316115710.42322jh3kfbhql4w@www.nexusmail.uwaterloo.ca> Message-ID: <4BAA3B0E.7060701@mobilerobots.com> If you want to use text files as the communications medium, you will just have to keep checking the files. (Though there are ways on Linux and possibly Windows as well to monitor a directory or file for changes without polling; I don't know what exactly they are, though.) Note that ARIA does have a class called ArNetServer (and, in addition, the additional ArNetworking library) which may help do this using TCP sockets rather than files; this would be a more direct and reliable way to do this. Reed Nurlan Mukanov wrote: > Hello, aria users. > > Could you help me with the task that I face. If I say some voice > command the recognition program(on the base station) will recognizes > my words and sent the command in form of the text file to the > robot(PeopleBot).How can robot using these commands(in form of text > file) make some actions??? For example, if some text file appears(for > example :"move 1 meter forward") in some directory, application that > is responsible for the movement should read from this file and do the > action(move 1 meter forward). On the other hand, if file consists > command: "move gripper up" robot should move gripper. I know that > there are some modifications should be done inside .cpp files in ARIA. > But could you, please, give an example how can it be done? Besides, > all these actions should be immediate right after I said my voice > command to my base station. > > Thanks a lot > 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 Mar 24 12:28:48 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 24 Mar 2010 12:28:48 -0400 Subject: [Aria-users] Robot acts through the text file In-Reply-To: <4BAA3B0E.7060701@mobilerobots.com> References: <20100316115710.42322jh3kfbhql4w@www.nexusmail.uwaterloo.ca> <4BAA3B0E.7060701@mobilerobots.com> Message-ID: <4BAA3DC0.1020600@mobilerobots.com> > Note that ARIA does have a class called ArNetServer A client should connect to ArNetServer vi a TCP socket on port, and send a command, a space character, any additional arguments separated by spaces, followed by a newline ("\n") or carriage return character. You can use telnet to test. Reed