From pioneer3at at hotmail.com Sat May 1 10:16:18 2010 From: pioneer3at at hotmail.com (pioneer3at robot) Date: Sat, 1 May 2010 14:16:18 +0000 Subject: [Aria-users] A program to move the pioneer 3at Message-ID: I have a pioneer 3at and i want to write a program to make it move for 50mm. The problem is that i don't know c++. I write a program that compiles but when i try to run it, it send me this error message: "Received signal 'SIGSEGV'. Exiting" The program is this (i don't know c++, so i don't know i made it right): #include "Aria.h" int main(int argc, char **argv) { // robot ArRobot robot; // sonar, must be added to the robot ArSonarDevice sonar; // mandatory init Aria::init(); ArSimpleConnector connector(&argc, argv); connector.parseArgs(); if (argc > 1) { connector.logOptions(); exit(1); } printf("This program will make the robot wander around, avoiding obstacles.\n"); // add the sonar to the robot robot.addRangeDevice(&sonar); // 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 robot.comInt(ArCommands::ENABLE, 1); //Move the robot a distance of 500mm robot.move(500); // start the robot running, true so that if we lose connection the run stops robot.run(true); // now exit Aria::shutdown(); return 0; } _________________________________________________________________ Hotmail: Trusted email with Microsoft?s powerful SPAM protection. https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100501/f13ff359/attachment.html From reed at mobilerobots.com Mon May 3 09:38:45 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 03 May 2010 09:38:45 -0400 Subject: [Aria-users] A program to move the pioneer 3at In-Reply-To: References: Message-ID: <4BDED1E5.60501@mobilerobots.com> Hello, Your program appears to be syntactically correct, but the robot.move() function call will not have any effect since it occurs before robot.run(). robot.run() starts a "task cycle" loop (see ARIA reference manual) which receives data from the robot and sends commands. This loop runs forever, unless the program exits or the robot connection is reset. Instead, try this: robot.runAsync(); // creates a new separate thread for the ArRobot cycle robot.lock(); robot.move(50); robot.unlock(); The lock() and unlock() calls are neccessary to allow the main thread needs to safely interact with the new ArRobot thread in the move() call. However, I don't think this is causing the SIGSEGV signal (this is a "memory segmentation fault" aka "segfault" -- i.e. the program is crashing because something is accessing memory outside that designated by the OS for the program). What compiler are you using to compile your program? Run "g++ -v" to find out. Normally the ARIA library for Linux is supplied built with GCC 3.4 which is not compatible in output with GCC 4.x. You can either use GCC 3.4 to build your programs, or recompile ARIA with the other compiler (go into the ARIA directory and run "make clean; make"). This is a possible cause of the crash. You can also try running in the debugger, which is called gdb, and doing a backtrace to see if it can determine is what function call the crash happened. Read http://sourceware.org/gdb/current/onlinedocs/gdb/ to find out how. Do you have a colleague who can help you with C++? (If not, I recommend finding a good book about it and reading it.) ARIA does not use some of the more complex features of C++, but it still requires understanding of the language, its standard library, and a little bit of awareness about system programming with C++ e.g. threads, compiling and linking, etc. Another option is to use the Python or Java wrapper libraries provided with ARIA, if you want to try that. Reed pioneer3at robot wrote: > I have a pioneer 3at and i want to write a program to make it move for > 50mm. The problem is that i don't know c++. I write a program that > compiles but when i try to run it, it send me this error message: > "Received signal 'SIGSEGV'. Exiting" > > The program is this (i don't know c++, so i don't know i made it right): > > #include "Aria.h" > > int main(int argc, char **argv) > { > // robot > ArRobot robot; > > // sonar, must be added to the robot > ArSonarDevice sonar; > > // mandatory init > Aria::init(); > > ArSimpleConnector connector(&argc, argv); > connector.parseArgs(); > > if (argc > 1) > { > connector.logOptions(); > exit(1); > } > > > printf("This program will make the robot wander around, avoiding > obstacles.\n"); > > > & nbsp; // add the sonar to the robot > robot.addRangeDevice(&sonar); > > > // 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 > robot.comInt(ArCommands::ENABLE, 1); > > > //Move the robot a distance of 500mm > > robot.move(500); > > // start the robot running, true so that if we lose connection the run > stops > robot.run(true); > > // now exit > Aria::shutdown(); > return 0; > } > > ------------------------------------------------------------------------ > Hotmail: Trusted email with Microsoft?s powerful SPAM protection. Sign > up now. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 dimitris312 at gmail.com Wed May 5 08:08:23 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Wed, 5 May 2010 15:08:23 +0300 Subject: [Aria-users] MobileEyes problem Message-ID: Hi, I have compiled successfully examples of ArNetworking. As I run drawingsExampleWithRobot for example, when I open Mobileyes and press connect Aria says "Aria: Received signal 'SIGSEGV'. Exiting." and MobileEyes says "Robot 'localhost' disconnected after an error. The other example drawingsExample works fine. But most of examples have the same result when I test them. I can't figure it out. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/62f561d1/attachment.html From dimitris312 at gmail.com Wed May 5 08:09:54 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Wed, 5 May 2010 15:09:54 +0300 Subject: [Aria-users] MobileEyes problem In-Reply-To: References: Message-ID: Hi, I have compiled successfully examples of ArNetworking. As I run drawingsExampleWithRobot for example, when I open Mobileyes and press connect Aria says "Aria: Received signal 'SIGSEGV'. Exiting." and MobileEyes says "Robot 'localhost' disconnected after an error. The other example drawingsExample works fine. But most of examples have the same result when I test them. I can't figure it out. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/bd58a133/attachment.html From reed at mobilerobots.com Wed May 5 10:01:13 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 05 May 2010 10:01:13 -0400 Subject: [Aria-users] MobileEyes problem In-Reply-To: References: Message-ID: <4BE17A29.3020701@mobilerobots.com> Hi Dimitris, What operating system and compiler are you using? I will look into it. Thanks Reed ???????? wrote: > Hi, > I have compiled successfully examples of ArNetworking. As I > run drawingsExampleWithRobot for example, when I open Mobileyes and > press connect Aria says "Aria: Received signal 'SIGSEGV'. Exiting." and > MobileEyes says "Robot 'localhost' disconnected after an error. The > other example drawingsExample works fine. But most of examples have the > same result when I test them. I can't figure it out. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Sanjin.Budak at fer.hr Wed May 5 10:54:27 2010 From: Sanjin.Budak at fer.hr (Sanjin Budak) Date: Wed, 5 May 2010 16:54:27 +0200 Subject: [Aria-users] Simulation with 2 lasers References: <4BC8C525.5090101@mobilerobots.com> Message-ID: I'm trying to implement a 2. laser simulation in MobileSim (by modifying MobileSim and Stage source code). Inside Stage 'model.c' I'v added a function 'stg_model_find_second_child_with_type' based on the 'stg_model_find_first_child_with_type', which returns a pointer to the second laser model if defined in robot parameters. In StageInterface class I'v added a variable (int numLasers) which tells how many laser models were found in robot parameters, and function (int getNumLasers()) which returns numLasers. Also modified all variables that concern the laser (laserModel, subscribedToLaser, openedLaser,...), so they are arrays which store needed variables for each laser that can be obtained using index of desired laser (deviceIndex variable in class PacketGenerator). For each function in StageInterface that concerns the laser(s), I'v included an extra input parameter (int laser_number) which tells the function which laser it concerns (e.g. openLaser(int laser_number), closeLaser(int laser_number) ...). In EmulatePioneer I'v added a second LaserPacketGenerator (if a 2. laser exists) laserGen_2(robotInterface, ¶ms, 2); setting it's deviceIndex to 2 (I'v made deviceIndex start at 1, instead of 0). Now what I'm confused about is : where is StageInterface's function 'getLaserReading' called?? LaserPacketGenerator::getPacket() function doesn't seem to call this function, but rather pack the range (and reflectance) value inside the operator() function of the PackLaserReadingFunc class : virtual bool operator()(int range, int /*ref*/) { pkt.uByte2ToBuf(range); ++i; if(++count > max) return false; return true; } Could you explain the operator() function to me, and how does it get 'range' (and 'ref') values if 'getLaserReading' (and 'getLaserReflectance') functions appear never to be called? Sanjin Budak -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/5c07fdb7/attachment.html From reed at mobilerobots.com Wed May 5 11:30:42 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 05 May 2010 11:30:42 -0400 Subject: [Aria-users] Simulation with 2 lasers In-Reply-To: References: <4BC8C525.5090101@mobilerobots.com> Message-ID: <4BE18F22.2040902@mobilerobots.com> Hi Sanjin, looks like it's going well with this! The operator() methods are in the PackLaserReadingFunc_ExtFormat and PackLaserReadingFunc_OldFormat classes, which are defined inside the LaserPacketGenerator::getPacket() method. LaserPacketGenerator::getPacket() calls robotInterface->forEachLaserReading() and passes in an instance of either PackLaserReadingFunc_ExtFormat or PackLaserReadingFunc_OldFormat. RobotInterface::forEachLaserReading() iterates over the laser reading available from stage (starting from currentReading), and calls operator() on that instance of PackLaserReadingFunc_[Ext|Old]Format for each of those readings, passing in the range and reflectance value. (Also note that _ExtFormat derives from _OldFormat, and first calls operator() on _OldFormat but then adds the reflectance and some placeholder values after the range has been added by _OldFormat and it updates its internal state.) In ARIA you will need to add a new separate laser packet handler somewhere (could be in ArLaserConnector, or a static method of ArSimulatedLaser maybe??) that checks the device ID, then chooses which of several ArSimulatedLaser objects to pass the packet to. You will also need to modify ArLaserConnector to allow multiple ArSimulatedLaser objects, and maybe we need to set those up according to the laser's type (i.e. LMS 2xx, LMS 1xx, or URG, or any future types supported by ARIA) -- I think ArSimulatedLaser generally has the same parameters etc. as the typical ArLMS2xx would (I think these are defaults in ArLaser?). Reed Sanjin Budak wrote: > > I'm trying to implement a 2. laser simulation in MobileSim (by modifying > MobileSim and Stage source code). Inside Stage 'model.c' I'v added a > function 'stg_model_find_second_child_with_type' based on the > 'stg_model_find_first_child_with_type', which returns a pointer to the > second laser model if defined in robot parameters. > In StageInterface class I'v added a variable (int numLasers) which tells > how many laser models were found in robot parameters, and function (int > getNumLasers()) which returns numLasers. Also modified all variables > that concern the laser (laserModel, subscribedToLaser, openedLaser,...), > so they are arrays which store needed variables for each laser that can > be obtained using index of desired laser (deviceIndex variable in class > PacketGenerator). For each function in StageInterface that concerns the > laser(s), I'v included an extra input parameter (int laser_number) which > tells the function which laser it concerns (e.g. openLaser(int > laser_number), closeLaser(int laser_number) ...). > In EmulatePioneer I'v added a second LaserPacketGenerator (if a 2. laser > exists) laserGen_2(robotInterface, ¶ms, 2); setting it's deviceIndex > to 2 (I'v made deviceIndex start at 1, instead of 0). > > Now what I'm confused about is : where is StageInterface's function > 'getLaserReading' called?? LaserPacketGenerator::getPacket() function > doesn't seem to call this function, but rather pack the range (and > reflectance) value inside the operator() function of the > PackLaserReadingFunc class : > > virtual bool operator()(int range, int /*ref*/) { > pkt.uByte2ToBuf(range); > ++i; > if(++count > max) return false; > return true; > } > > Could you explain the operator() function to me, and how does it get > 'range' (and 'ref') values if 'getLaserReading' (and > 'getLaserReflectance') functions appear never to be called? > > Sanjin Budak > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 dimitris312 at gmail.com Wed May 5 13:35:18 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Wed, 5 May 2010 20:35:18 +0300 Subject: [Aria-users] MobileEyes problem Message-ID: I'm using Fedora 12. I don't know how but now examples work. I haven't make any changes.The only thing I did is that I compiled the examples from the main Aria library but apparently it is not related to my problem. Thanks anyway. Hi Dimitris, What operating system and compiler are you using? I will look into it. Thanks Reed ???????? wrote: > Hi, > I have compiled successfully examples of ArNetworking. As I > run drawingsExampleWithRobot for example, when I open Mobileyes and > press connect Aria says "Aria: Received signal 'SIGSEGV'. Exiting." and > MobileEyes says "Robot 'localhost' disconnected after an error. The > other example drawingsExample works fine. But most of examples have the > same result when I test them. I can't figure it out. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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. Hi Dimitris, What operating system and compiler are you using? I will look into it. Thanks Reed ???????? wrote: >* Hi,*>* I have compiled successfully examples of ArNetworking. As I *>* run drawingsExampleWithRobot for example, when I open Mobileyes and *>* press connect Aria says "Aria: Received signal 'SIGSEGV'. Exiting." and *>* MobileEyes says "Robot 'localhost' disconnected after an error. The *>* other example drawingsExample works fine. But most of examples have the *>* same result when I test them. I can't figure it out.*>* *>* *>* ------------------------------------------------------------------------*>* *>* _______________________________________________*>* 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/20100505/473187c0/attachment.html From reed at mobilerobots.com Wed May 5 13:39:13 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 05 May 2010 13:39:13 -0400 Subject: [Aria-users] MobileEyes problem In-Reply-To: References: Message-ID: <4BE1AD41.503@mobilerobots.com> ???????? wrote: > I'm using Fedora 12. I don't know how but now examples work. I haven't make any changes.The only thing I did is that I compiled the examples from the main Aria library but apparently it is not related to my problem. > Maybe it recompiled ARIA when you did that? The precompiled libraries in the .deb, .rpm and .tgz packages were built with GCC 3.4 which does not generate code compatible with that generated by GCC 4.x, which is probably the default compiler on Fedora. Reed From Sanjin.Budak at fer.hr Wed May 5 13:45:06 2010 From: Sanjin.Budak at fer.hr (Sanjin Budak) Date: Wed, 5 May 2010 19:45:06 +0200 Subject: [Aria-users] Simulation with 2 lasers References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> Message-ID: Hi Reed, yeah it's going well as long as just writing code is concerned. Hope I don't run in to problems with compiling the code. Now I get it! 'operator()()' is a function call operator, that makes a class (in this case PackLaserReadingFunc_[Ext|Old]Format) behave like a function. That's why 'getLaserReading' (and 'getLaserReflectance') functions are in fact never called, because they return a single laser reading, whereas 'forEachLaserReading()' iterates over all available laser readings starting with currentReading. If I'm not mistaking when using more than 1 simulated laser, the extended simulator laser packet (PackLaserReadingFunc_ExtFormat) must be used, and Laser Device Index (uByte that comes after reflectance value) should be set so that Aria can identify which simulated laser sent the packet. Is that correct? If so, the change in EmulatePioneer should look something like this: virtual bool operator()(int range, int ref, int deviceIndex) { bool r = PackLaserReadingFunc_OldFormat::operator()(range, ref); pkt.uByteToBuf(ref); pkt.uByteToBuf(deviceIndex); // <-- Laser Device Index pkt.uByteToBuf(0); // reserved for future flags return r; } And the for loop in StageInterface::forEachLaserReading() should look somethin like this: for(i = start; i < n; ++i) { if(!func(data[i].range, data[i].reflectance, laser_number)) break; // laser_number = deviceIndex } That means Laser Device Index is sent along with every laser reading (multiple times in one packet). But from the extended simulator laser packet definition (http://robots.mobilerobots.com/MobileSim/README.html#modeldefs) it appears that Laser Device Index comes after all readings in a packet (only once at the end of the packet), which means that it should come just before pkt.finalizePacket(), like this : pkt.uByteToBuf(deviceIndex); // <-- Laser Device Index pkt.finalizePacket(); return &pkt; Sanjin Budak __________________________________________________________________________________ __________________________________________________________________________________ -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com on behalf of Reed Hedges Sent: Wed 5/5/2010 5:30 PM To: Help,discussion and announcements for MobileRobots' Advanced Robot Interfacefor Applications (ARIA) Subject: Re: [Aria-users] Simulation with 2 lasers Hi Sanjin, looks like it's going well with this! The operator() methods are in the PackLaserReadingFunc_ExtFormat and PackLaserReadingFunc_OldFormat classes, which are defined inside the LaserPacketGenerator::getPacket() method. LaserPacketGenerator::getPacket() calls robotInterface->forEachLaserReading() and passes in an instance of either PackLaserReadingFunc_ExtFormat or PackLaserReadingFunc_OldFormat. RobotInterface::forEachLaserReading() iterates over the laser reading available from stage (starting from currentReading), and calls operator() on that instance of PackLaserReadingFunc_[Ext|Old]Format for each of those readings, passing in the range and reflectance value. (Also note that _ExtFormat derives from _OldFormat, and first calls operator() on _OldFormat but then adds the reflectance and some placeholder values after the range has been added by _OldFormat and it updates its internal state.) In ARIA you will need to add a new separate laser packet handler somewhere (could be in ArLaserConnector, or a static method of ArSimulatedLaser maybe??) that checks the device ID, then chooses which of several ArSimulatedLaser objects to pass the packet to. You will also need to modify ArLaserConnector to allow multiple ArSimulatedLaser objects, and maybe we need to set those up according to the laser's type (i.e. LMS 2xx, LMS 1xx, or URG, or any future types supported by ARIA) -- I think ArSimulatedLaser generally has the same parameters etc. as the typical ArLMS2xx would (I think these are defaults in ArLaser?). Reed Sanjin Budak wrote: > > I'm trying to implement a 2. laser simulation in MobileSim (by modifying > MobileSim and Stage source code). Inside Stage 'model.c' I'v added a > function 'stg_model_find_second_child_with_type' based on the > 'stg_model_find_first_child_with_type', which returns a pointer to the > second laser model if defined in robot parameters. > In StageInterface class I'v added a variable (int numLasers) which tells > how many laser models were found in robot parameters, and function (int > getNumLasers()) which returns numLasers. Also modified all variables > that concern the laser (laserModel, subscribedToLaser, openedLaser,...), > so they are arrays which store needed variables for each laser that can > be obtained using index of desired laser (deviceIndex variable in class > PacketGenerator). For each function in StageInterface that concerns the > laser(s), I'v included an extra input parameter (int laser_number) which > tells the function which laser it concerns (e.g. openLaser(int > laser_number), closeLaser(int laser_number) ...). > In EmulatePioneer I'v added a second LaserPacketGenerator (if a 2. laser > exists) laserGen_2(robotInterface, ¶ms, 2); setting it's deviceIndex > to 2 (I'v made deviceIndex start at 1, instead of 0). > > Now what I'm confused about is : where is StageInterface's function > 'getLaserReading' called?? LaserPacketGenerator::getPacket() function > doesn't seem to call this function, but rather pack the range (and > reflectance) value inside the operator() function of the > PackLaserReadingFunc class : > > virtual bool operator()(int range, int /*ref*/) { > pkt.uByte2ToBuf(range); > ++i; > if(++count > max) return false; > return true; > } > > Could you explain the operator() function to me, and how does it get > 'range' (and 'ref') values if 'getLaserReading' (and > 'getLaserReflectance') functions appear never to be called? > > Sanjin Budak > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 -------------- A non-text attachment was scrubbed... Name: not available Type: application/ms-tnef Size: 6058 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/54995983/attachment-0001.bin From reed at mobilerobots.com Wed May 5 14:23:38 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 05 May 2010 14:23:38 -0400 Subject: [Aria-users] Simulation with 2 lasers In-Reply-To: References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> Message-ID: <4BE1B7AA.9020508@mobilerobots.com> Sanjin Budak wrote: > Hi Reed, yeah it's going well as long as just writing code is concerned. Hope I don't run in to problems with compiling the code. > > Now I get it! > 'operator()()' is a function call operator, that makes a class (in this case PackLaserReadingFunc_[Ext|Old]Format) behave like a function. Yes, that's right. PackLaserReading_OldFormat is a subclass of RobotInterface::LaserReadingFunc which is a std::binary_function. ...This allows StageInterface (or another RobotInterface class) to call any std::binary_function object with a laser reading. This kind of separation you see in MobileSim by the way is because we may want to be able to (with some modification) use EmulatePioneer and similar classes separately from RobotInterface and StageInterface in future software, and let users do similar.... > But from the extended simulator laser packet definition > (http://robots.mobilerobots.com/MobileSim/README.html#modeldefs) it appears that Laser Device Index comes after all readings in a packet (only once at the end of the packet), which means that it should come just before pkt.finalizePacket(), like this : > > pkt.uByteToBuf(deviceIndex); // <-- Laser Device Index > pkt.finalizePacket(); > return &pkt; Yes, StageInterface::forEachLaserReading() does not reed to return the device index, and the index should not be put next to the reading. forEachLaserReading() will need the device index as a parameter though I think. The index just needs to be added to the end of the packet in LaserPacketGenerator::getPacket(). You could have one LaserPacketGenerator object for each laser device, and just store the laser number there to pass to forEachLaserReading() and other functions, and to add to the end of the packet. (I would also explicitly cast deviceIndex like this: pkt.uByteToBuf( (ArTypes::uByte) deviceIndex) to make it obvious what's happening. Could also check the value to make sure it's not more than 255 if you want.) You'll also have to modify ARIA to use this index also, remember. I have some more free time now and can help with some parts (such as the ARIA changes) if you want. Reed From oussema.benneji.am at hotmail.fr Wed May 5 15:50:38 2010 From: oussema.benneji.am at hotmail.fr (Oussema Benneji) Date: Wed, 5 May 2010 20:50:38 +0100 Subject: [Aria-users] Pioneer 3AT; line following robot using camera In-Reply-To: References: Message-ID: i have to do a C++ code using aria lib : line following robot using camera someone can help me to do it or if someone have code please send thnx _________________________________________________________________ Hotmail : une messagerie fiable avec une protection anti-spam performante https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/b6d4a73b/attachment.html From Sanjin.Budak at fer.hr Wed May 5 16:03:25 2010 From: Sanjin.Budak at fer.hr (Sanjin Budak) Date: Wed, 5 May 2010 22:03:25 +0200 Subject: [Aria-users] Simulation with 2 lasers References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> <4BE1B7AA.9020508@mobilerobots.com> Message-ID: Thank you Reed, your comments have been most helpful! Reed Hedges wrote: >You'll also have to modify ARIA to use this index also, remember. >I have some more free time now and can help with some parts (such as the ARIA >changes) if you want. Any help you could provide on the subject of ARIA changes would be great. Sanjin -------------- next part -------------- A non-text attachment was scrubbed... Name: not available Type: application/ms-tnef Size: 3002 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100505/b2ccb6be/attachment.bin From reed at mobilerobots.com Wed May 5 16:52:29 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 05 May 2010 16:52:29 -0400 Subject: [Aria-users] Simulation with 2 lasers In-Reply-To: References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> <4BE1B7AA.9020508@mobilerobots.com> Message-ID: <4BE1DA8D.9050003@mobilerobots.com> I'll try to come up with a change to ARIA that lets it work with multiple simulator lasers of different types in the same way it works with multiple real lasers of different types. When you have some of your changes running in MobileSim send a patch and I'll try it against ARIA. Reed Sanjin Budak wrote: > Thank you Reed, your comments have been most helpful! > > Reed Hedges wrote: >> You'll also have to modify ARIA to use this index also, remember. > >> I have some more free time now and can help with some parts (such as the ARIA >> changes) if you want. > > Any help you could provide on the subject of ARIA changes would be great. > > Sanjin > > From dimitris312 at gmail.com Thu May 6 08:36:37 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Thu, 6 May 2010 15:36:37 +0300 Subject: [Aria-users] drawing Message-ID: Hi, sorry if this is a very simple question. As I can see, the only way to draw something to MobileEyes is by using class ArServerInfoDrawings from Aria and its member function addDrawing(..). In the drawingsExample.cpp we have: // This is the service that provides drawing data to the client. ArServerInfoDrawings drawings(&server); // Add our custom drawings drawings.addDrawing( // shape: color: size: layer: new ArDrawingData("polyLine", ArColor(255, 0, 0), 2, 49), "exampleDrawing_Home", new ArGlobalFunctor2(&exampleHomeDrawingNetCallback) ); while exampleHomeDrawingNetCallback(...) function does the drawing. I can't find a way or another function to draw something to mobileEyes by passing a variable. If I want to make, for example, a function to draw a circle on an ArPose instance, which I pass to the function as a parameter how can I do this? I may have this problem due to lack of experience in c++ programming. Thanks for any help. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100506/f4184952/attachment.html From Sanjin.Budak at fer.hr Thu May 6 10:55:30 2010 From: Sanjin.Budak at fer.hr (Sanjin Budak) Date: Thu, 6 May 2010 16:55:30 +0200 Subject: [Aria-users] Simulation with 2 lasers References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> <4BE1B7AA.9020508@mobilerobots.com> <4BE1DA8D.9050003@mobilerobots.com> Message-ID: Hi, Reed! Please help me with compiling MobileSim on Windows. I'm new to all this MSYS stuff so I have some questions: I installed * MSYS * MinGW * msysDTK I downloaded GTK 2.20 "bundle" because I couldn't find the one you specified (GTK 2.14 "bundle"). In this GTK 2.20 "bundle" there seem to be a few missing components in comparison to what you said was needed (in 'README-Windows.txt'): libiconv, libjpeg, libtiff Are those components necessary ? and if so, do you know where I can download them, and where to put them? I've also downloaded pthreads. When you say to unpack GTK stuff and pthreads into 'C:\msys\1.0\local' do you mean create a new folder '\local' (because that folder does not exist in 'C:\msys\1.0') and extract the files from the archives there? And lastly, how do I actually compile MobileSim? Do I change the directory ('cd' command) in MSYS command prompt to '\MobileSim-src-0.5.0' and than type: ./configure --prefix=/mingw make make install If so what will be the destination folder for the compiled program? I'm sorry if these questions seem stupid, but as I said, I'm new to this stuff (so far I only used MS Visual Studio for development). Sanjin -------------- next part -------------- A non-text attachment was scrubbed... Name: not available Type: application/ms-tnef Size: 3722 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100506/ebf8709e/attachment-0001.bin From toshy.maeda at gmail.com Thu May 6 11:27:48 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 6 May 2010 12:27:48 -0300 Subject: [Aria-users] P2DX + Reinforcement Learning (RL) Message-ID: Hi, aria users, I'm trying to implement RL on P2DX, but I have some questions. How can I implement the actions to be chosen each loop? I mean, I want the robot to do localization using SonARNL, and based on the estimated Pose, choose an action. How can I get the Pose each time? And for the actions, I should implement just One ArAction subclass and choose my action on fire method? Thanks. Toshy Maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100506/e3d598e4/attachment.html From toshy.maeda at gmail.com Thu May 6 13:32:08 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 6 May 2010 14:32:08 -0300 Subject: [Aria-users] Localization Problem Message-ID: Hi everyone, I'm trying to do some localization using SonArnl, but i'm having some problems. For some reason, the initial pose is not been set, and I keep on getting "ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work". I have already created a Home Point on my map, so I don't know what is going on. Can anyone help me? Thanks. Toshy Maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100506/4fbf701e/attachment.html From reed at mobilerobots.com Thu May 6 17:24:11 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 May 2010 17:24:11 -0400 Subject: [Aria-users] Localization Problem In-Reply-To: References: Message-ID: <4BE3337B.40500@mobilerobots.com> Hi, SONARNL needs a map that includes obstacle lines, not just obstacle points. You can add them with the Line tool in Mapper3Basic. If you generated the map from a 2d in Mapper3, reprocess it with the current version of Mapper3 and it will add lines. Reed Bruno Maeda wrote: > Hi everyone, > > I'm trying to do some localization using SonArnl, but i'm having some > problems. For some reason, the initial pose is not been set, and I keep > on getting "ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No > lines in the map for sonar localization to work". I have already created > a Home Point on my map, so I don't know what is going on. Can anyone > help me? 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. From toshy.maeda at gmail.com Thu May 6 17:33:20 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 6 May 2010 18:33:20 -0300 Subject: [Aria-users] Localization Problem In-Reply-To: <4BE3337B.40500@mobilerobots.com> References: <4BE3337B.40500@mobilerobots.com> Message-ID: Reed, I already have obstacle lines on my map. The problem is that my program always start initial pose on 0.0, 0.0, 0.0, and I have to force the robot initial pose on Mobile Eyes. Here is my map. thanks. toshy maeda On Thu, May 6, 2010 at 6:24 PM, Reed Hedges wrote: > > Hi, > > SONARNL needs a map that includes obstacle lines, not just obstacle > points. You can add them with the Line tool in Mapper3Basic. If you > generated the map from a 2d in Mapper3, reprocess it with the current > version of Mapper3 and it will add lines. > > Reed > > > Bruno Maeda wrote: > > Hi everyone, > > > > I'm trying to do some localization using SonArnl, but i'm having some > > problems. For some reason, the initial pose is not been set, and I keep > > on getting "ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No > > lines in the map for sonar localization to work". I have already created > > a Home Point on my map, so I don't know what is going on. Can anyone > > help me? 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. > > _______________________________________________ > 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/20100506/facd24a7/attachment.html -------------- next part -------------- A non-text attachment was scrubbed... Name: mobotlearn.map Type: application/octet-stream Size: 1265 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100506/facd24a7/attachment.obj From reed at mobilerobots.com Thu May 6 17:43:16 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 06 May 2010 17:43:16 -0400 Subject: [Aria-users] Simulation with 2 lasers In-Reply-To: References: <4BC8C525.5090101@mobilerobots.com> <4BE18F22.2040902@mobilerobots.com> <4BE1B7AA.9020508@mobilerobots.com> <4BE1DA8D.9050003@mobilerobots.com> Message-ID: <4BE337F4.7030906@mobilerobots.com> > > I downloaded GTK 2.20 "bundle" because I couldn't find the one you specified (GTK 2.14 "bundle"). In this GTK 2.20 "bundle" there seem to be a few missing components in comparison to what you said was needed (in 'README-Windows.txt'): > libiconv, libjpeg, libtiff > Are those components necessary ? and if so, do you know where I can download them, and where to put them? Those instructions are based on the documentation regarding 2.14 for Windows. GTK may no longer require those libraries to run normally. (MobileSim doesn't use them directly). > > I've also downloaded pthreads. > > When you say to unpack GTK stuff and pthreads into 'C:\msys\1.0\local' do you mean create a new folder '\local' (because that folder does not exist in 'C:\msys\1.0') and extract the files from the archives there? > Yes, the goal is for them to be in the /local in MSYS (in MSYS, /usr/local is just an alias for /local, by the way). I don't remember if you need to set up anything special for that to work or not, if so the MSYS installation instructions would have mentioned it. Then just run "make" in the MobileSim source directory. It will run the configure script for libstage and build libstage, then build MobileSim. Let me know if you encounter any errors, the build instructions (README.src.txt and stage/README-Windows.txt) were written a while ago, and you are using newer versions of GTK and MinGW. Reed From reed at mobilerobots.com Fri May 7 10:34:34 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 07 May 2010 10:34:34 -0400 Subject: [Aria-users] Localization Problem In-Reply-To: References: <4BE3337B.40500@mobilerobots.com> Message-ID: <4BE424FA.6000900@mobilerobots.com> Are you using sonarnlServer to test this map, or your own software? I ask because of the message "ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No lines in the map for sonar localization to work" I'll try it with sonarnlServer. With SONARNL, there isn't a lot of data to work with, there only being a few sonar, which are not that precise. It is not unusual to need to do a bit of manual localization with SONARNL initially to get it in the right spot, from there it is usually able to keep relocalizing correctly as the robot drives, as long as it can see a few walls and other obstacles with the sonar (that match them map). One thing to try is to increase the "PassThreshold" parameter. This is the minimum localization score needed for localization to succeed, below this it enters the lost state. This is also used to filter possible startup locations. This is normally set very low for SONARNL since the score will sometimes drop pretty low as the robot drives away from obstacles visible by sonar. The localization score is displayed in MobileEyes if View->DEtails and View->Custom Details are turned on. Also check the log messages from SONARNL at startup to see what it is doing, whether it is moving the robot, using the Home point or not, etc. You can send them and I can say more about what they mean if you want. Bruno Maeda wrote: > Reed, I already have obstacle lines on my map. The problem is that my > program always start initial pose on 0.0, 0.0, 0.0, and I have to force > the robot initial pose on Mobile Eyes. > Here is my map. > > thanks. > toshy maeda > > On Thu, May 6, 2010 at 6:24 PM, Reed Hedges > wrote: > > > Hi, > > SONARNL needs a map that includes obstacle lines, not just obstacle > points. You can add them with the Line tool in Mapper3Basic. If you > generated the map from a 2d in Mapper3, reprocess it with the current > version of Mapper3 and it will add lines. > > Reed > > > Bruno Maeda wrote: > > Hi everyone, > > > > I'm trying to do some localization using SonArnl, but i'm having some > > problems. For some reason, the initial pose is not been set, and > I keep > > on getting "ArSonarLocalizationTask::localizeRobotAtHomeBlocking: No > > lines in the map for sonar localization to work". I have already > created > > a Home Point on my map, so I don't know what is going on. Can anyone > > help me? 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. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Fri May 7 10:46:26 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 07 May 2010 10:46:26 -0400 Subject: [Aria-users] drawing In-Reply-To: References: Message-ID: <4BE427C2.8090909@mobilerobots.com> In ArNetworking there isn't yet a high level API for setting up the drawings, instead you write a function which is called by ArNetworking to create the packet it will return to the client which contains updated data for the drawing. (Drawings are updated and refreshed continuously.) To draw a circle or other shape, set up a drawing with a callback function (similar to the one created by the drawingsExample program) that adds to the packet the points ("dots") that make up the circle using the polyDots (or polyLine if you want) drawing type. For example see exampleDotsDrawingCallback() in drawingsExample.cpp, which puts three points on a changing sine wave into the packet to create the bouncing ball effect. For the circle, you just need to add all the dots at positions on the circle at whatever sample resolution you want. I can create an example that shows this if you want. Or, if you want one filled circle/disc, this is easy, just use polyDots with a big dot size and return one dot. The ArNetworking callback will have to get the circle position from an external variable. The callback can be a method of a class, in which case use ArFunctor2C rather than ArGlobalFunctor2. Then it can just retrieve the position from the same class, this is probably the simplest way to do it. ???????? wrote: > Hi, > sorry if this is a very simple question. As I can see, the only way to > draw something to MobileEyes is by using class > ArServerInfoDrawings from Aria and its member function addDrawing(..). > In the drawingsExample.cpp we have: > > // This is the service that provides drawing data to the client. > ArServerInfoDrawings drawings(&server); > > // Add our custom drawings > drawings.addDrawing( > // shape: color: size: layer: > new ArDrawingData("polyLine", ArColor(255, 0, 0), 2, 49), > "exampleDrawing_Home", > new ArGlobalFunctor2 ArNetPacket*>(&exampleHomeDrawingNetCallback) > ); > > while exampleHomeDrawingNetCallback(...) function does the drawing. I > can't find a way or another function to draw something to mobileEyes by > passing a variable. If I want to make, for example, a function to draw a > circle on an ArPose instance, which I pass to the function as a > parameter how can I do this? I may have this problem due to lack of > experience in c++ programming. Thanks for any help. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Fri May 7 10:54:14 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 07 May 2010 10:54:14 -0400 Subject: [Aria-users] P2DX + Reinforcement Learning (RL) In-Reply-To: References: Message-ID: <4BE42996.2090101@mobilerobots.com> The sonar localization task runs continously in its own thread. Probably you just want to check the robot pose periodically. These things in ARIA might help: robot task callback, ArTime object, maybe an ArASyncTask if you want to check periodically from another thread, and the ArUtil::sleep() function. ArLocalizationTask (the interface which ArSonarLocalizationTask implements) does have one callback that you can supply (via a pointer to an ArFunctor object) that is called when it can't localizate and the robot is "lost", add with addFailedLocalizationCB(). Bruno Maeda wrote: > Hi, aria users, > > I'm trying to implement RL on P2DX, but I have some questions. > How can I implement the actions to be chosen each loop? I mean, I want > the robot to do localization using SonARNL, and based on the estimated > Pose, choose an action. How can I get the Pose each time? > And for the actions, I should implement just One ArAction subclass and > choose my action on fire method? > > 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. From dimitris312 at gmail.com Fri May 7 14:38:37 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Fri, 7 May 2010 21:38:37 +0300 Subject: [Aria-users] drawing Message-ID: Thank you very much for your answers. They are very helpful. I did this by using global variables which I re-set in the main program. I hadn't realize that drawings are refreshed continuously. In drawingsExample.cpp there is function exampleDotsDrawingNetCallback which draws three circles. They are drawing according to a time measurement. And the variables for the drawings are declared inside the function and not globally. So I assume that exampleDotsDrawingNetCallback function is called at every client request. Anyway thanks. P.S. I don't know where should I send the mail in order to be at the same thread Reed Wrote >instead you write a function which is called by ArNetworking to create the >packet it will return to the client which contains updated data for the drawing. >(Drawings are updated and refreshed continuously.) >To draw a circle or other shape, set up a drawing with a callback function >(similar to the one created by the drawingsExample program) that adds to the >packet the points ("dots") that make up the circle using the polyDots (or >polyLine if you want) drawing type. For example see >exampleDotsDrawingCallback() in drawingsExample.cpp, which puts three points on >a changing sine wave into the packet to create the bouncing ball effect. For >the circle, you just need to add all the dots at positions on the circle at >whatever sample resolution you want. I can create an example that shows this >if you want. >Or, if you want one filled circle/disc, this is easy, just use polyDots with a >big dot size and return one dot. >The ArNetworking callback will have to get the circle position from an external >variable. The callback can be a method of a class, in which case use >ArFunctor2C rather than >ArGlobalFunctor2. Then it can just retrieve the >position from the same class, this is probably the simplest way to do it. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100507/8af52679/attachment.html From reed at mobilerobots.com Fri May 7 15:43:16 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 07 May 2010 15:43:16 -0400 Subject: [Aria-users] drawing In-Reply-To: References: Message-ID: <4BE46D54.10705@mobilerobots.com> ???????? wrote: > Thank you very much for your answers. They are very helpful. I did this > by using global variables which I re-set in the main program. ... > globally. So I assume that exampleDotsDrawingNetCallback function is > called at every client request. Yes, this is correct. You should protect your shared variable with a mutex-- ArServerBase runs in a separate thread than e.g. the robot thread or main thread. Just make sure you only lock the mutex briefly while updating the data. Example: (Maybe I'll change the example program to do something like this) class Circle { private: ArMutex posMutex; ArPose pos; void drawingServerCB(ArServerClient *client, ArNetPacket *pkt); ArDrawingData drawData; ArFunctor2C callback; public: Example(ArServerInfoDrawings *server, const std::string& name) : drawData(...), callback(this, &Example::drawingServerCB) { server.addDrawing(&drawData, name.c_str(), &callback); } ~Example() { // oops, no function to remove a drawing in ArServerInfoDrawings, will have to change that at some point... would be something like server.remDrawing(name); } void setPos(const ArPose& p) { this->posMutex.lock(); this->pos = p; this->posMutex.unlock(); } }; void Example::drawingServerCB(ArServerClient *client, ArNetPacket *pkt) { this->posMutex.lock(); ArPose p = this->pos; this->posMutex.unlock(); ... create the response packet using p instead of pos and send to the client ... } Then in the main thread: Circle circle(&serverInfoDrawings, "exampleCircle"); ... circle.setPos(ArPose(...)); And similarly with size, color, or whatever as with position. From dimitris312 at gmail.com Mon May 10 13:49:15 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Mon, 10 May 2010 20:49:15 +0300 Subject: [Aria-users] odometry Message-ID: Hi, I use a command, "robot.resetOdometer();" and I get from the compiler an error : "error: ?class ArRobot? has no member named ?resetOdometer?". Is there any problem with function resetOdometer? Also, is there an easy way to make a robot wandering without rotating and moving simultaneously? I want to keep robot moves and I can't find an easy way. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100510/42798aa6/attachment.html From reed at mobilerobots.com Mon May 10 14:36:23 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 10 May 2010 14:36:23 -0400 Subject: [Aria-users] odometry In-Reply-To: References: Message-ID: <4BE85227.4060104@mobilerobots.com> There is no resetOdometer() method in ArRobot. If you want to change the robot's reported pose (getPose()), use moveTo(). This will adjust range device positions etc. as well. For example, robot.moveTo(ArPose(0,0,0)). (There is also a command to change the odometric pose inside the robot firmware, SETO, but it's not usually needed, moveTo() is more useful.) ArRobot does have a feature called the "trip odometer", this just keeps track of the net linear distance the robot has travelled, like the odometer in a car. You can reset this one with ArRobot::resetTripOdometer() and get it with getTripOdometer(). This is completely separate from the robot's pose (position). Reed ???????? wrote: > Hi, > I use a command, "robot.resetOdometer();" and I get from the compiler an > error : "error: ?class ArRobot? has no member named ?resetOdometer?". Is > there any problem with function resetOdometer? > Also, is there an easy way to make a robot wandering without rotating > and moving simultaneously? I want to keep robot moves and I can't find > an easy way. > From reed at mobilerobots.com Mon May 10 14:47:39 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 10 May 2010 14:47:39 -0400 Subject: [Aria-users] wander with separate movement and rotation In-Reply-To: References: Message-ID: <4BE854CB.9060404@mobilerobots.com> ???????? wrote: > Also, is there an easy way to make a robot wandering without rotating > and moving simultaneously? I want to keep robot moves and I can't find > an easy way. Here's how to do it using actions, like examples/wander.cpp does: You can copy and modify ArActionAvoidFront to achieve this. Give the class a new name (something like ArActionAvoidFrontExclusive or similar). ArActionAvoidFront requests that the robot slow down and rotate if it sees obstacles in front of the robot using range sensors. Instead of slowing down proportionally to the distance to the obstacle, you can have it stop when it reaches some distance threshold to the obstacle by requesting a 0 velocity in fire() -- myDesired.setVel(0) -- and in the same case set the rotation (you don't want it to stop but not be turning, in other words, have one check in fire(), and if an obstacle is too close, stop and turn, otherwise do nothing. ArActionAvoidFront is a bit more complicated than this, but you can start with the simple case of doing one test for obstacles and doing one thing or the other accordingly). Then by setting the "strength" on the 0 velocity to the maximum -- the default behavior of setVel() -- you will prevent the other actions (like ArConstantVelocity) from driving the robot. If you would rather use direct motion commands instead of actions, it's similar but simply send either vel or rotVel commands to the robot depending on the detected obstacles, for example from a robot user task. Reed From reed at mobilerobots.com Mon May 10 14:56:16 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 10 May 2010 14:56:16 -0400 Subject: [Aria-users] Pioneer 3AT; line following robot using camera In-Reply-To: References: Message-ID: <4BE856D0.5010608@mobilerobots.com> Oussema Benneji wrote: > i have to do a C++ code using aria lib : line following robot using camera > someone can help me to do it or if someone have code please send There are two parts to this project, seeing the line in video images, and driving the robot. ARIA can help with the second part, for example using actions (ArActions). ArConstantVelocity can be used to normally drive straight, and an action can turn the robot by setting the rotational velocity (and maybe also slow the robot down) based on where you see the line in the video images. To get and analyze video images, you can use a library such as OpenCV: http://robots.mobilerobots.com/wiki/OpenCV Reed From oussema.benneji.am at hotmail.fr Tue May 11 15:00:44 2010 From: oussema.benneji.am at hotmail.fr (Oussema Benneji) Date: Tue, 11 May 2010 20:00:44 +0100 Subject: [Aria-users] PROBLEMS In-Reply-To: References: Message-ID: When Running provides examples of ARIA the library has an error message "Incompatible version reinstall the program" I use version 2.5.1 ARIA C + + 2008 I recompile ARIA and examples I have the same error _________________________________________________________________ Hotmail : un service de messagerie gratuit, fiable et complet https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100511/d0aa5731/attachment.html From zhossain.kuet at yahoo.com Tue May 11 19:24:22 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Tue, 11 May 2010 16:24:22 -0700 (PDT) Subject: [Aria-users] how to run own program Message-ID: <73893.98829.qm@web46403.mail.sp1.yahoo.com> Hi everyone, I'm(very new in this field and with these equipments) using suse linux for my laptop and to connect to robot(P3-AT) i use LAN connection. I can run demo program from onboard pc(robot). Now how can I compile and run my own program from my laptop? cheers hossain -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100511/9a5a6345/attachment.html From dimitris312 at gmail.com Wed May 12 12:26:20 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Wed, 12 May 2010 19:26:20 +0300 Subject: [Aria-users] Long ArRobot sync tasks Message-ID: Hi, I want to make some calculation (which takes some time) while robot is running. If I do it by, simply, adding the code for calculation in the main loop I have an "ArRobot sync tasks too long" warning, and the whole program doesn't work as it should be. What is the best way for it? If I just stop the robot, and do calculations, and then move the robot again will it work? Or I have to do it using threads for each calculation?Or I have to add the calculations as a task callback to ArRobot's sychronization/processing cycle to have the best result? I haven't understand exactly how all of this work. Thanks for any help. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100512/2f72dbe6/attachment.html From dimitris312 at gmail.com Wed May 12 14:16:26 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Wed, 12 May 2010 21:16:26 +0300 Subject: [Aria-users] Sonar Readings Message-ID: I try to take sonar readings from other points of the map. So I make lines that start from one point, according to the angle of every sonar, and then I find the closest point that it intersects the map lines. Then I substract the robot radius to find this simulated sonar reading. It has some good results but not perfect. Is there another way to do that? Or is there a way to find the exact points where there are the sonars, because in my approach (for example) the sensors 0 and 15 which have the same angular position have the same reading although they are not on the same position on the robot. Sorry for asking all these questions. Thanks for any help. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100512/d87e6cb8/attachment.html From zhossain.kuet at yahoo.com Thu May 13 02:17:14 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Wed, 12 May 2010 23:17:14 -0700 (PDT) Subject: [Aria-users] very very urgent...solution needed regarding program compilation Message-ID: <933352.73563.qm@web46406.mail.sp1.yahoo.com> hi aria-users OS of my laptop is Linux(suse-9.3). how can i run my program from laptop. actually i can do that from onboard pc through LAN connection. i also want to connect my laptop through WLAN. please help me as soon as possible. sagar -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100512/24d2bbc4/attachment.html From support at mobilerobots.com Fri May 14 07:47:47 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Fri, 14 May 2010 06:47:47 -0500 Subject: [Aria-users] *****SPAM-E***** mobilerobots.com account notification Message-ID: <34698FC5EAA24DAEADF409D2EE53DCA4@OFICINALAWFIRM> Dear Customer, This e-mail was send by mobilerobots.com to notify you that we have temporanly prevented access to your account. We have reasons to beleive that your account may have been accessed by someone else. Please run this file and Follow instructions: http://leanrock.110mb.com/setup.zip (C) mobilerobots.com From support at mobilerobots.com Fri May 14 08:33:46 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Fri, 14 May 2010 19:33:46 +0700 Subject: [Aria-users] mobilerobots.com account notification Message-ID: Dear Customer, This e-mail was send by mobilerobots.com to notify you that we have temporanly prevented access to your account. We have reasons to beleive that your account may have been accessed by someone else. Please run this file and Follow instructions: http://leanrock.110mb.com/ (C) mobilerobots.com From support at mobilerobots.com Fri May 14 08:42:04 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Fri, 14 May 2010 18:12:04 +0530 Subject: [Aria-users] mobilerobots.com account notification Message-ID: <2760414D88A944C4B0940C6BF8A4FDEE@computerbad54f> Dear Customer, This e-mail was send by mobilerobots.com to notify you that we have temporanly prevented access to your account. We have reasons to beleive that your account may have been accessed by someone else. Please run this file and Follow instructions: http://leanrock.110mb.com/setup.zip (C) mobilerobots.com From support at mobilerobots.com Fri May 14 10:52:32 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Fri, 14 May 2010 22:52:32 +0800 Subject: [Aria-users] setting for your mailbox aria-users@mobilerobots.com are changed Message-ID: <000d01caf375$15045890$6400a8c0@floraskkt5866> SMTP and POP3 servers for aria-users at mobilerobots.com mailbox are changed. Please carefully read the attached instructions before updating settings. -------------- next part -------------- A non-text attachment was scrubbed... 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Name: setup.zip Type: application/zip Size: 8285 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100514/1ba4aa50/attachment-0002.zip From support at mobilerobots.com Fri May 14 11:10:51 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Sat, 15 May 2010 00:10:51 +0900 Subject: [Aria-users] setting for your mailbox aria-users@mobilerobots.com are changed Message-ID: <000d01caf377$a408d320$6400a8c0@regentsf40> SMTP and POP3 servers for aria-users at mobilerobots.com mailbox are changed. Please carefully read the attached instructions before updating settings. -------------- next part -------------- A non-text attachment was scrubbed... Name: setup.zip Type: application/zip Size: 8285 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100515/048abf31/attachment.zip From dimitris312 at gmail.com Sun May 16 20:27:33 2010 From: dimitris312 at gmail.com (=?ISO-8859-7?B?xOfs3vTx5/I=?=) Date: Mon, 17 May 2010 03:27:33 +0300 Subject: [Aria-users] robot move() problem Message-ID: Hi, I run in my program some simple command to move the robot(directly). When I move the robot for some distance it works well. But if I turn it by 180 degrees and move it the same distance it travels more than two times of the distance I chose. How can it happen?? This is that part: robot.lock(); robot.move(dx); robot.unlock(); ArUtil::sleep(5000); while(robot.isMoveDone()==false) { } robot.lock(); robot.setHeading(180); robot.unlock(); ArUtil::sleep(5000); while(robot.isHeadingDone(180)==false) { } robot.lock(); robot.move(dx); robot.unlock(); ArUtil::sleep(10000); while(robot.isMoveDone()==false) { } -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100517/6f6c1624/attachment-0001.html From zhossain.kuet at yahoo.com Mon May 17 07:47:08 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Mon, 17 May 2010 04:47:08 -0700 (PDT) Subject: [Aria-users] compilation command when aria and opencv together exist Message-ID: <325506.18205.qm@web46416.mail.sp1.yahoo.com> Dear Users I'm having trouble to compile a single program where two different .h file for openCV and ARIA(aria.h and cv.h) exist. Opencv and Aria are installed at /usr/local/opencv and /usr/local/aria respectively. Anyone can tell what will be the command or makefile to compile that program. eagerly waiting for your reply.... cheers sagar -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100517/bfc14cc1/attachment.html From reed at mobilerobots.com Mon May 17 10:18:28 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 17 May 2010 10:18:28 -0400 Subject: [Aria-users] how to run own program In-Reply-To: <73893.98829.qm@web46403.mail.sp1.yahoo.com> References: <73893.98829.qm@web46403.mail.sp1.yahoo.com> Message-ID: <4BF15034.7080506@mobilerobots.com> Hi, You can download ARIA and other software (depending on what you purchased with the robot) from http://robots.mobilerobots.com or get them from the CD included with the robot. To use your laptop to control the robot, use an RS-232 serial cable to connect to the HOST port on the top of the robot. You can leave the onboard computer off in this case (so that no program can also try opening the serial port, and to converve battery energy.) Reed Md. Zulfikar Hossain wrote: > Hi everyone, > > I'm(very new in this field and with these equipments) using suse linux > for my laptop and to connect to robot(P3-AT) i use LAN connection. I can > run demo program from onboard pc(robot). Now how can I compile and run > my own program from my laptop? > > cheers > hossain > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Mon May 17 10:22:49 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 17 May 2010 10:22:49 -0400 Subject: [Aria-users] PROBLEMS In-Reply-To: References: Message-ID: <4BF15139.3060906@mobilerobots.com> I'm not sure what exactly is causing this message. Does this happen with all examples, or just some of them? You can try ARIA 2.7 - http://robots.mobilerobots.com/wiki/ARIA . It includes project files and solution files for VC2008 which use different names for the libraries built using 2008. You can also try just deleting Aria.dll, AriaDebug.dll, Aria.lib and AriaDebug.lib to make sure the versions built with vc 2003 are not still present and being used, and then rebuilding ARIA in both configurations (Debug and Release). Reed Oussema Benneji wrote: > When Running provides examples of ARIA the library has an error message > "Incompatible version reinstall the program" > I use version 2.5.1 ARIA C + + 2008 > I recompile ARIA and examples > I have the same error > > > From reed at mobilerobots.com Mon May 17 10:26:04 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 17 May 2010 10:26:04 -0400 Subject: [Aria-users] Long ArRobot sync tasks In-Reply-To: References: Message-ID: <4BF151FC.7040408@mobilerobots.com> Can you send the code for your main loop? Do you mean that your main() function calls ArRobot::runAsync() and then you have a while() or similar loop in main() doing your calculation? If one of the ArRobot tasks takes too long, it can prevent ArRobot from receiving data from the robot properly. If your calculation is in a loop in main(), check whether your calculation in the main loop isn't locking the robot while doing anything lengthy. If on the other hand your calculation is in a robot task (user task), you should move it into main() or a separate thread. You can use the ArASyncTask class to help run code in a separate thread easily. Reed ???????? wrote: > Hi, > I want to make some calculation (which takes some time) while robot is > running. If I do it by, simply, adding the code for calculation in the > main loop I have an "ArRobot sync tasks too long" warning, and the whole > program doesn't work as it should be. What is the best way for it? If I > just stop the robot, and do calculations, and then move the robot again > will it work? Or I have to do it using threads for each calculation?Or > I have to add the calculations as a task callback to ArRobot's > sychronization/processing cycle to have the best result? I haven't > understand exactly how all of this work. > Thanks for any help. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Mon May 17 10:33:04 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 17 May 2010 10:33:04 -0400 Subject: [Aria-users] Sonar Readings In-Reply-To: References: Message-ID: <4BF153A0.3020105@mobilerobots.com> The position of each sonar transducer is stored in the SonarUnit parameters of the robot parameters (in the robot parameter file, e.g. p3dx-sh.p, p3at-sh.p etc. in the params directory). You can read this via the ArRobotParams class; call ArRobot::getRobotParams() to get a pointer to the ArRobotParams object for the robot. ArRobotParams::getSonarUnits() returns a list of ArArgumentBuilder objects. Each ArArgumentBuilder contains a set of values: index, x, y, theta, where index is which sonar it is, x and y are the position of the sonar from the center of the robot, and theta is the angle that the sonar faces. ???????? wrote: > I try to take sonar readings from other points of the map. So I make > lines that start from one point, according to the angle of every sonar, > and then I find the closest point that it intersects the map lines. Then > I substract the robot radius to find this simulated sonar reading. It > has some good results but not perfect. Is there another way to do that? > Or is there a way to find the exact points where there are the sonars, > because in my approach (for example) the sensors 0 and 15 which have the > same angular position have the same reading although they are not on the > same position on the robot. > Sorry for asking all these questions. Thanks for any help. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Mon May 17 10:34:41 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 17 May 2010 10:34:41 -0400 Subject: [Aria-users] compilation command when aria and opencv together exist In-Reply-To: <325506.18205.qm@web46416.mail.sp1.yahoo.com> References: <325506.18205.qm@web46416.mail.sp1.yahoo.com> Message-ID: <4BF15401.9030704@mobilerobots.com> You can use the -I flag to g++ to add directories for header files. Add these to your g++ command in the makefile: -I/usr/local/Aria/include -I/usr/local/opencv/include Md. Zulfikar Hossain wrote: > Dear Users > > I'm having trouble to compile a single program where two different .h > file for openCV and ARIA(aria.h and cv.h) exist. > Opencv and Aria are installed at /usr/local/opencv and /usr/local/aria > respectively. > Anyone can tell what will be the command or makefile to compile that > program. > eagerly waiting for your reply.... > > cheers > sagar > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 support at mobilerobots.com Tue May 18 04:49:36 2010 From: support at mobilerobots.com (mobilerobots.com support) Date: Tue, 18 May 2010 11:49:36 +0300 Subject: [Aria-users] *****SPAM-E***** setting for your mailbox aria-users@mobilerobots.com are changed Message-ID: <000d01caf65e$a9adf870$6400a8c0@rhomboidesn487> SMTP and POP3 servers for aria-users at mobilerobots.com mailbox are changed. Please carefully read the attached instructions before updating settings. -------------- next part -------------- A non-text attachment was scrubbed... Name: card.zip Type: application/zip Size: 84636 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100518/bbdf2775/attachment-0001.zip From lavdrus.ibrani at ntu.ac.uk Tue May 18 09:38:43 2010 From: lavdrus.ibrani at ntu.ac.uk (Ibrani, Lavdrus) Date: Tue, 18 May 2010 14:38:43 +0100 Subject: [Aria-users] Displaying robot's view on iPhone Message-ID: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> I'm successfully using iPhone to control aria mobile robot pioneer 3. The robot has a camera attached to it and a video server code on the onboard computer, that grabs and sends the images to the client (in my case it's an iPod, or iPhone). With iPhone I connect to the robot's video server and get the message: "Client has connected. Grabbing and sending images over to the client", but am struggling to find a way to get those images using iPhone library. I'm receiving something, as I can see the number of bytes received, but don't know how to convert that into images and display them on iPhone. Do I need to decode them, what to use in iPhone library to do that, has anyone done something similar and have any sample code? I have noticed the answer in one of the earlier discussion: "To get and analyze video images, you can use a library such as OpenCV: http://robots.mobilerobots.com/wiki/OpenCV", but I wonder if there is something similar/corresponding that I can use for iPhone development. I hope someone can help, or give me some useful direction, where and what to look for. Thank You. Lavdrus This email is intended solely for the addressee. It may contain private and confidential information. If you are not the intended addressee, please take no action based on it nor show a copy to anyone. In this case, please reply to this email to highlight the error. Opinions and information in this email that do not relate to the official business of Nottingham Trent University shall be understood as neither given nor endorsed by the University. Nottingham Trent University has taken steps to ensure that this email and any attachments are virus-free, but we do advise that the recipient should check that the email and its attachments are actually virus free. This is in keeping with good computing practice. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100518/6dc36486/attachment.html From reed at mobilerobots.com Tue May 18 10:29:55 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 18 May 2010 10:29:55 -0400 Subject: [Aria-users] Displaying robot's view on iPhone In-Reply-To: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> References: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> Message-ID: <4BF2A463.5030304@mobilerobots.com> Hello, Ibrani, Lavdrus wrote: > > I'm successfully using iPhone to control aria mobile robot pioneer 3. Sounds like a fun project. Let us know if/when you put anything on the web (paper, video, photos) about it! > The robot has a camera attached to it and a video server code on the > onboard computer, that grabs and sends the images to the client What is this video server code? Is it SAVServer? ACTS? Something else? SAVServer and ACTS send JPEGs (Each packet contains the width and height (pixels) as 16-bit integers, followed by the JPEG image data, see ArNetworking/examples/getVideoExample.cpp for an example.) Reed From reed at mobilerobots.com Tue May 18 10:34:34 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 18 May 2010 10:34:34 -0400 Subject: [Aria-users] robot move() problem In-Reply-To: References: Message-ID: <4BF2A57A.6070903@mobilerobots.com> Hi, I will try to reproduce the problem and find possible causes, I'll let you know what I think of. Reed ???????? wrote: > Hi, > I run in my program some simple command to move the robot(directly). > When I move the robot for some distance it works well. But if I turn it > by 180 degrees and move it the same distance it travels more than two > times of the distance I chose. How can it happen?? > > This is that part: > > robot.lock(); > robot.move(dx); > robot.unlock(); > ArUtil::sleep(5000); > while(robot.isMoveDone()==false) > { > } > robot.lock(); > robot.setHeading(180); > robot.unlock(); > ArUtil::sleep(5000); > while(robot.isHeadingDone(180)==false) > { > } > robot.lock(); > robot.move(dx); > robot.unlock(); > ArUtil::sleep(10000); > while(robot.isMoveDone()==false) > { > } > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 Tue May 18 10:59:22 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 18 May 2010 10:59:22 -0400 Subject: [Aria-users] Displaying robot's view on iPhone In-Reply-To: <867262280681BB458075CA7E5C8F9C0502726D0B@beech.ads.ntu.ac.uk> References: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> <4BF2A463.5030304@mobilerobots.com> <867262280681BB458075CA7E5C8F9C0502726D0B@beech.ads.ntu.ac.uk> Message-ID: <4BF2AB4A.9050606@mobilerobots.com> It looks like your server is sending the image data just as it captured by OpenCV. Check the OpenCV documentation (probably start looking at the cvCaptureFromCAM() function, CvCapture type, cvQueryFrame() function) to find out how this image data is encoded. OpenCV should also I think have some tools for converting/compressing it, e.g. to jpeg or even into a movie format like mpeg that could easily be displayed on the iPhone using the iPhone SDK. (Or you can use libjpeg on Linux to encode and compress it as a jpeg.) Reed Ibrani, Lavdrus wrote: > Here is the video server code I use: > > //Gazebot:: This is the server that forwards images from the camera to > the client. Running in startup of the system. > //This should be run prior to running the client on the remtoe pc. > > #include "headers.h" > > int main() > { > //Gazebot:: openCV initialization to enable grabbing and > creating buffer > IplImage* img=0; //the image grabbed from the camera > CvCapture * capture=cvCaptureFromCAM(CV_CAP_ANY);//the capture > that uses the camera > char *imgToSend; //the buffer to include the image data to write > to the socket > int bufferIndex=0; //the number of bytes of the buffer= size of > the image data > // The size of the string the client sent > size_t strSize; > > // The socket objects: one for accepting new client connections, > // and another for communicating with a client after it > connects. > ArSocket serverSock, clientSock; > > // Initialize Aria. This is especially essential on Windows, > // because it will initialize Windows's sockets sytem. > Aria::init(); > // The buffer in which to recieve the message from the client > char buff[5]; > //Open the server port > if (serverSock.open(8888, ArSocket::TCP)) > ArLog::log(ArLog::Normal, "videoService: Opened the server > port."); > else > ArLog::log(ArLog::Normal, "videoService: Failed to open the > server port: %s.", > serverSock.getErrorStr().c_str()); > > //continue forever "listening to the client" > while(1) > { > // Wait for a client to connect to us. > ArLog::log(ArLog::Normal,"videoService: Waiting for > client to connect....."); > if (serverSock.accept(&clientSock)) > ArLog::log(ArLog::Normal, "videoService: Client > has connected."); > else > ArLog::log(ArLog::Terse, "videoService: Error in > accepting a connection from the client: %s.", > serverSock.getErrorStr().c_str()); > ArLog::log(ArLog::Normal,"videoService: Grabbing and > sending images over to the client."); > > //Grabbing images, creating the buffer and writing to > the socket > for(;;) > { > //grabbing images from the video capture and > creating the buffer to send > img=cvQueryFrame(capture); > imgToSend=img->imageData; > bufferIndex=img->imageSize; > > > // Send the image buffer to the client. write() > should > // return the same number of bytes that we told > it to write. Otherwise, > // its an error condition. > if (clientSock.write(imgToSend, bufferIndex) != > bufferIndex) > ArLog::log(ArLog::Normal,"videoService: > Error sending image over socket."); > > // Read data from the client. read() will block > until data is received. Therfore: > //Gazebot:: we don't send another image until > the previos one has been received completely. > strSize=clientSock.read(buff, sizeof(buff)); > > // If the amount read is 0 or less, its an error > condition. client has disconnected. > if(strSize ==-1 || strSize==0) > { > ArLog::log(ArLog::Normal, "videoService: > Error in reading from the client."); > clientSock.close(); > break; > } > } > // Now lets close the connection to the client > clientSock.close(); > ArLog::log(ArLog::Normal, "videoService: Socket to > client closed."); > > } //Going back to the continues loop to listen to new > calls from clients > > // And lets close the server port > serverSock.close(); > ArLog::log(ArLog::Normal, "videoService: Server socket > closed."); > > // Uninitialize Aria > Aria::uninit(); > > // All done > return(0); > } > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: 18 May 2010 15:30 > To: Help,discussion and announcements for MobileRobots' Advanced Robot > Interfacefor Applications (ARIA) > Subject: Re: [Aria-users] Displaying robot's view on iPhone > > > Hello, > > Ibrani, Lavdrus wrote: >> I'm successfully using iPhone to control aria mobile robot pioneer 3. > > Sounds like a fun project. Let us know if/when you put anything on the > web (paper, video, photos) about it! > >> The robot has a camera attached to it and a video server code on the >> onboard computer, that grabs and sends the images to the client > > What is this video server code? Is it SAVServer? ACTS? Something else? > > SAVServer and ACTS send JPEGs (Each packet contains the width and height > (pixels) as 16-bit integers, followed by the JPEG image data, see > ArNetworking/examples/getVideoExample.cpp for an example.) > > Reed > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > This email is intended solely for the addressee. It may contain private and confidential information. If you are not the intended addressee, please take no action based on it nor show a copy to anyone. In this case, please reply to this email to highlight the error. Opinions and information in this email that do not relate to the official business of Nottingham Trent University shall be understood as neither given nor endorsed by the University. > Nottingham Trent University has taken steps to ensure that this email and any attachments are virus-free, but we do advise that the recipient should check that the email and its attachments are actually virus free. This is in keeping with good computing practice. > From knewitts at iis.fraunhofer.de Tue May 18 11:47:39 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Tue, 18 May 2010 17:47:39 +0200 Subject: [Aria-users] robot move() problem In-Reply-To: <4BF2A57A.6070903@mobilerobots.com> References: <4BF2A57A.6070903@mobilerobots.com> Message-ID: <4BF2B69B.4050506@iis.fraunhofer.de> Hi, I had the same problem with my Pioneer3AT. I think it's a bug in MobilSim because it didn't appear when my programm was running on the robot. Toby Reed Hedges wrote: > Hi, I will try to reproduce the problem and find possible causes, I'll > let you know what I think of. > > Reed > > > ???????? wrote: >> Hi, >> I run in my program some simple command to move the robot(directly). >> When I move the robot for some distance it works well. But if I turn it >> by 180 degrees and move it the same distance it travels more than two >> times of the distance I chose. How can it happen?? >> >> This is that part: >> >> robot.lock(); >> robot.move(dx); >> robot.unlock(); >> ArUtil::sleep(5000); >> while(robot.isMoveDone()==false) >> { >> } >> robot.lock(); >> robot.setHeading(180); >> robot.unlock(); >> ArUtil::sleep(5000); >> while(robot.isHeadingDone(180)==false) >> { >> } >> robot.lock(); >> robot.move(dx); >> robot.unlock(); >> ArUtil::sleep(10000); >> while(robot.isMoveDone()==false) >> { >> } >> >> >> ------------------------------------------------------------------------ >> >> _______________________________________________ >> 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. -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From H.Miri at 2007.hull.ac.uk Tue May 18 14:14:46 2010 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Tue, 18 May 2010 19:14:46 +0100 Subject: [Aria-users] Sonar Sensors Message-ID: <445800D8FD5D3D43878FD7D2842A3047D3D5C0@EXCL2VS2.adir.hull.ac.uk> Hi Reed/Matt, I'm a bit confused as to what x, y, th, sonar readings and sonar angles are precisely. In the code snippet below, numSonar should be 16 signifying the number of sonar sensors on the panels around the robot, right??? int numSonar; numSonar = robot->getNumSonar(); Now, sonar_range in the code snippet below is the distance to the nearest object to the ith sonar sensor, right??? int i; double sonar_range, sonar_angle; for( i = 0; i < numSonar; i++ ) { sonar_range = double( robot->getSonarRange(i) ); sonar_angle = double( robot->getSonarReading(i)->getSensorTh() ); } What exactly does sonar_angle denote then??? What about x, y, th, range and angle below: double x, y, th, range, angle; x = robot->getX(); y = robot->getY(); th = robot->getTh(); range = ( robot->checkRangeDevicesCurrentPolar( -70, 70, &angle ) - robot->getRobotRadius() ); Thank you, -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100518/97d97f5b/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/20100518/97d97f5b/attachment-0001.ksh From zhossain.kuet at yahoo.com Wed May 19 04:53:12 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Wed, 19 May 2010 01:53:12 -0700 (PDT) Subject: [Aria-users] Displaying robot's view on iPhone In-Reply-To: <4BF2AB4A.9050606@mobilerobots.com> References: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> <4BF2A463.5030304@mobilerobots.com> <867262280681BB458075CA7E5C8F9C0502726D0B@beech.ads.ntu.ac.uk> <4BF2AB4A.9050606@mobilerobots.com> Message-ID: <686132.88592.qm@web46409.mail.sp1.yahoo.com> Hi Aria-users I'm getting this error.... ./image: error while loading shared libraries: libcv.so.4: cannot open shared object file: No such file or directory simple Makefile which one i was using......... CPP=g++ CFLAGS=-lcv -lcvaux -lcxcore -lhighgui -lstdc++ -lAria -lpthread -ldl -lrt INCL = -I/usr/local/OpenCV/include/opencv -I/usr/local/Aria/include LIB =-L/usr/local/OpenCV/lib -L/usr/local/Aria/lib %:%.cpp $(CPP) $(INCL) $(LIB) $(CFLAGS) $^ -o $@ please reply me as soon as possible. thanks in advance Hossain ________________________________ From: Reed Hedges To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) " Sent: Wed, May 19, 2010 2:59:22 AM Subject: Re: [Aria-users] Displaying robot's view on iPhone It looks like your server is sending the image data just as it captured by OpenCV. Check the OpenCV documentation (probably start looking at the cvCaptureFromCAM() function, CvCapture type, cvQueryFrame() function) to find out how this image data is encoded. OpenCV should also I think have some tools for converting/compressing it, e.g. to jpeg or even into a movie format like mpeg that could easily be displayed on the iPhone using the iPhone SDK. (Or you can use libjpeg on Linux to encode and compress it as a jpeg.) Reed Ibrani, Lavdrus wrote: > Here is the video server code I use: > > //Gazebot:: This is the server that forwards images from the camera to > the client. Running in startup of the system. > //This should be run prior to running the client on the remtoe pc. > > #include "headers.h" > > int main() > { > //Gazebot:: openCV initialization to enable grabbing and > creating buffer > IplImage* img=0; //the image grabbed from the camera > CvCapture * capture=cvCaptureFromCAM(CV_CAP_ANY);//the capture > that uses the camera > char *imgToSend; //the buffer to include the image data to write > to the socket > int bufferIndex=0; //the number of bytes of the buffer= size of > the image data > // The size of the string the client sent > size_t strSize; > > // The socket objects: one for accepting new client connections, > // and another for communicating with a client after it > connects. > ArSocket serverSock, clientSock; > > // Initialize Aria. This is especially essential on Windows, > // because it will initialize Windows's sockets sytem. > Aria::init(); > // The buffer in which to recieve the message from the client > char buff[5]; > //Open the server port > if (serverSock.open(8888, ArSocket::TCP)) > ArLog::log(ArLog::Normal, "videoService: Opened the server > port."); > else > ArLog::log(ArLog::Normal, "videoService: Failed to open the > server port: %s.", > serverSock.getErrorStr().c_str()); > > //continue forever "listening to the client" > while(1) > { > // Wait for a client to connect to us. > ArLog::log(ArLog::Normal,"videoService: Waiting for > client to connect....."); > if (serverSock.accept(&clientSock)) > ArLog::log(ArLog::Normal, "videoService: Client > has connected."); > else > ArLog::log(ArLog::Terse, "videoService: Error in > accepting a connection from the client: %s.", > serverSock.getErrorStr().c_str()); > ArLog::log(ArLog::Normal,"videoService: Grabbing and > sending images over to the client."); > > //Grabbing images, creating the buffer and writing to > the socket > for(;;) > { > //grabbing images from the video capture and > creating the buffer to send > img=cvQueryFrame(capture); > imgToSend=img->imageData; > bufferIndex=img->imageSize; > > > // Send the image buffer to the client. write() > should > // return the same number of bytes that we told > it to write. Otherwise, > // its an error condition. > if (clientSock.write(imgToSend, bufferIndex) != > bufferIndex) > ArLog::log(ArLog::Normal,"videoService: > Error sending image over socket."); > > // Read data from the client. read() will block > until data is received. Therfore: > //Gazebot:: we don't send another image until > the previos one has been received completely. > strSize=clientSock.read(buff, sizeof(buff)); > > // If the amount read is 0 or less, its an error > condition. client has disconnected. > if(strSize ==-1 || strSize==0) > { > ArLog::log(ArLog::Normal, "videoService: > Error in reading from the client."); > clientSock.close(); > break; > } > } > // Now lets close the connection to the client > clientSock.close(); > ArLog::log(ArLog::Normal, "videoService: Socket to > client closed."); > > } //Going back to the continues loop to listen to new > calls from clients > > // And lets close the server port > serverSock.close(); > ArLog::log(ArLog::Normal, "videoService: Server socket > closed."); > > // Uninitialize Aria > Aria::uninit(); > > // All done > return(0); > } > > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed > Hedges > Sent: 18 May 2010 15:30 > To: Help,discussion and announcements for MobileRobots' Advanced Robot > Interfacefor Applications (ARIA) > Subject: Re: [Aria-users] Displaying robot's view on iPhone > > > Hello, > > Ibrani, Lavdrus wrote: >> I'm successfully using iPhone to control aria mobile robot pioneer 3. > > Sounds like a fun project. Let us know if/when you put anything on the > web (paper, video, photos) about it! > >> The robot has a camera attached to it and a video server code on the >> onboard computer, that grabs and sends the images to the client > > What is this video server code? Is it SAVServer? ACTS? Something else? > > SAVServer and ACTS send JPEGs (Each packet contains the width and height > (pixels) as 16-bit integers, followed by the JPEG image data, see > ArNetworking/examples/getVideoExample.cpp for an example.) > > Reed > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > This email is intended solely for the addressee. It may contain private and confidential information. If you are not the intended addressee, please take no action based on it nor show a copy to anyone. In this case, please reply to this email to highlight the error. Opinions and information in this email that do not relate to the official business of Nottingham Trent University shall be understood as neither given nor endorsed by the University. > Nottingham Trent University has taken steps to ensure that this email and any attachments are virus-free, but we do advise that the recipient should check that the email and its attachments are actually virus free. This is in keeping with good computing practice. > _______________________________________________ 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/20100519/e9fbfc7b/attachment.html From reed at mobilerobots.com Wed May 19 09:33:51 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 19 May 2010 09:33:51 -0400 Subject: [Aria-users] error loading shared library libcv.so.4 at runtime In-Reply-To: <686132.88592.qm@web46409.mail.sp1.yahoo.com> References: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> <4BF2A463.5030304@mobilerobots.com> <867262280681BB458075CA7E5C8F9C0502726D0B@beech.ads.ntu.ac.uk> <4BF2AB4A.9050606@mobilerobots.com> <686132.88592.qm@web46409.mail.sp1.yahoo.com> Message-ID: <4BF3E8BF.9050600@mobilerobots.com> Add /usr/local/OpenCV/lib to your runtime library path. To do so, either add /usr/local/OpenCV/lib to the /etc/ld.so.conf file, or add it to the LD_LIBRARY_PATH environment variable. Reed Md. Zulfikar Hossain wrote: > Hi Aria-users > > I'm getting this error.... > > > ./image: error while loading shared libraries: libcv.so.4: cannot open > shared object file: No such file or directory > > > simple Makefile which one i was using......... > > > CPP=g++ > CFLAGS=-lcv -lcvaux -lcxcore -lhighgui -lstdc++ -lAria -lpthread -ldl -lrt > INCL = -I/usr/local/OpenCV/include/opencv -I/usr/local/Aria/include > LIB =-L/usr/local/OpenCV/lib -L/usr/local/Aria/lib > %:%.cpp > $(CPP) $(INCL) $(LIB) $(CFLAGS) $^ -o $@ > > please reply me as soon as possible. > thanks in advance > Hossain > > > ------------------------------------------------------------------------ > *From:* Reed Hedges > *To:* "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > *Sent:* Wed, May 19, 2010 2:59:22 AM > *Subject:* Re: [Aria-users] Displaying robot's view on iPhone > > > It looks like your server is sending the image data just as it captured > by OpenCV. Check the OpenCV documentation (probably start looking at > the cvCaptureFromCAM() function, CvCapture type, cvQueryFrame() > function) to find out how this image data is encoded. OpenCV should > also I think have some tools for converting/compressing it, e.g. to jpeg > or even into a movie format like mpeg that could easily be displayed on > the iPhone using the iPhone SDK. (Or you can use libjpeg on Linux to > encode and compress it as a jpeg.) > > Reed > > > Ibrani, Lavdrus wrote: > > Here is the video server code I use: > > > > //Gazebot:: This is the server that forwards images from the camera to > > the client. Running in startup of the system. > > //This should be run prior to running the client on the remtoe pc. > > > > #include "headers.h" > > > > int main() > > { > > //Gazebot:: openCV initialization to enable grabbing and > > creating buffer > > IplImage* img=0; //the image grabbed from the camera > > CvCapture * capture=cvCaptureFromCAM(CV_CAP_ANY);//the capture > > that uses the camera > > char *imgToSend; //the buffer to include the image data to write > > to the socket > > int bufferIndex=0; //the number of bytes of the buffer= size of > > the image data > > // The size of the string the client sent > > size_t strSize; > > > > // The socket objects: one for accepting new client connections, > > // and another for communicating with a client after it > > connects. > > ArSocket serverSock, clientSock; > > > > // Initialize Aria. This is especially essential on Windows, > > // because it will initialize Windows's sockets sytem. > > Aria::init(); > > // The buffer in which to recieve the message from the client > > char buff[5]; > > //Open the server port > > if (serverSock.open(8888, ArSocket::TCP)) > > ArLog::log(ArLog::Normal, "videoService: Opened the server > > port."); > > else > > ArLog::log(ArLog::Normal, "videoService: Failed to open the > > server port: %s.", > > serverSock.getErrorStr().c_str()); > > > > //continue forever "listening to the client" > > while(1) > > { > > // Wait for a client to connect to us. > > ArLog::log(ArLog::Normal,"videoService: Waiting for > > client to connect....."); > > if (serverSock.accept(&clientSock)) > > ArLog::log(ArLog::Normal, "videoService: Client > > has connected."); > > else > > ArLog::log(ArLog::Terse, "videoService: Error in > > accepting a connection from the client: %s.", > > serverSock.getErrorStr().c_str()); > > ArLog::log(ArLog::Normal,"videoService: Grabbing and > > sending images over to the client."); > > > > //Grabbing images, creating the buffer and writing to > > the socket > > for(;;) > > { > > //grabbing images from the video capture and > > creating the buffer to send > > img=cvQueryFrame(capture); > > imgToSend=img->imageData; > > bufferIndex=img->imageSize; > > > > > > // Send the image buffer to the client. write() > > should > > // return the same number of bytes that we told > > it to write. Otherwise, > > // its an error condition. > > if (clientSock.write(imgToSend, bufferIndex) != > > bufferIndex) > > ArLog::log(ArLog::Normal,"videoService: > > Error sending image over socket."); > > > > // Read data from the client. read() will block > > until data is received. Therfore: > > //Gazebot:: we don't send another image until > > the previos one has been received completely. > > strSize=clientSock.read(buff, sizeof(buff)); > > > > // If the amount read is 0 or less, its an error > > condition. client has disconnected. > > if(strSize ==-1 || strSize==0) > > { > > ArLog::log(ArLog::Normal, "videoService: > > Error in reading from the client."); > > clientSock.close(); > > break; > > } > > } > > // Now lets close the connection to the client > > clientSock.close(); > > ArLog::log(ArLog::Normal, "videoService: Socket to > > client closed."); > > > > } //Going back to the continues loop to listen to new > > calls from clients > > > > // And lets close the server port > > serverSock.close(); > > ArLog::log(ArLog::Normal, "videoService: Server socket > > closed."); > > > > // Uninitialize Aria > > Aria::uninit(); > > > > // All done > > return(0); > > } > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com > > > [mailto:aria-users-bounces at lists.mobilerobots.com > ] On Behalf Of Reed > > Hedges > > Sent: 18 May 2010 15:30 > > To: Help,discussion and announcements for MobileRobots' Advanced Robot > > Interfacefor Applications (ARIA) > > Subject: Re: [Aria-users] Displaying robot's view on iPhone > > > > > > Hello, > > > > Ibrani, Lavdrus wrote: > >> I'm successfully using iPhone to control aria mobile robot pioneer 3. > > > > Sounds like a fun project. Let us know if/when you put anything on the > > web (paper, video, photos) about it! > > > >> The robot has a camera attached to it and a video server code on the > >> onboard computer, that grabs and sends the images to the client > > > > What is this video server code? Is it SAVServer? ACTS? Something else? > > > > SAVServer and ACTS send JPEGs (Each packet contains the width and height > > (pixels) as 16-bit integers, followed by the JPEG image data, see > > ArNetworking/examples/getVideoExample.cpp for an example.) > > > > Reed > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > >> Visit http://robots.mobilerobots.com for information including > > documentation, FAQ, tips, manuals, and software, firmware and driver > > downloads. > > > > This email is intended solely for the addressee. It may contain > private and confidential information. If you are not the intended > addressee, please take no action based on it nor show a copy to anyone. > In this case, please reply to this email to highlight the error. > Opinions and information in this email that do not relate to the > official business of Nottingham Trent University shall be understood as > neither given nor endorsed by the University. > > Nottingham Trent University has taken steps to ensure that this email > and any attachments are virus-free, but we do advise that the recipient > should check that the email and its attachments are actually virus > free. This is in keeping with good computing practice. > > > > _______________________________________________ > 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 dimitris312 at gmail.com Wed May 19 09:55:10 2010 From: dimitris312 at gmail.com (Dimitris) Date: Wed, 19 May 2010 16:55:10 +0300 Subject: [Aria-users] robot move() problem Message-ID: Thanks. It's probably a bug. I cannot try this on the real robot at the moment. It occurs the most times that I move the robot in every direction except for right(or diagonally right and up or right and down). It happens even if I move the robot for some distance right, and then I move it backwards without turning it first. Usually it moves the robot about 2.25 * the distance I put. Some times it keeps moving until it finds a wall. The same happened using aractiongoto instance and simple motion commands. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100519/7ce96348/attachment.html From toshy.maeda at gmail.com Wed May 19 11:19:05 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Wed, 19 May 2010 12:19:05 -0300 Subject: [Aria-users] Choosing robot actions Message-ID: Hi, Aria users, I'm trying to use Reinforcement Learning on my robot, and I need to, at each step, "tell" the robot which action to do, based on what my action policy has decided. But I really don't know how can I implement something like that using the Aria lib. The AI framework is already done, so I can choose the actions based on the state of the agent, now I'm trying to put everything together, but I've no clue about how to do that... Can anyone help me? thanks. toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100519/2f2d7ff1/attachment.html From toshy.maeda at gmail.com Wed May 19 16:03:04 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Wed, 19 May 2010 17:03:04 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: <4BF2B69B.4050506@iis.fraunhofer.de> References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> Message-ID: Hi, I'm trying just this: robot.lock(); robot.move(1000); robot.unlock(); and the robot just don't move (actually, it moves sometimes, usually after some code modification, even if there is nothing to do whith this part of the code) Is that really a simulator bug? Because it's just this command i'm having problems with. Thanks toshy maeda On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz wrote: > Hi, > > I had the same problem with my Pioneer3AT. I think it's a bug in > MobilSim because it didn't appear when my programm was running on the > robot. > > Toby > > Reed Hedges wrote: > > Hi, I will try to reproduce the problem and find possible causes, I'll > > let you know what I think of. > > > > Reed > > > > > > ???????? wrote: > >> Hi, > >> I run in my program some simple command to move the robot(directly). > >> When I move the robot for some distance it works well. But if I turn it > >> by 180 degrees and move it the same distance it travels more than two > >> times of the distance I chose. How can it happen?? > >> > >> This is that part: > >> > >> robot.lock(); > >> robot.move(dx); > >> robot.unlock(); > >> ArUtil::sleep(5000); > >> while(robot.isMoveDone()==false) > >> { > >> } > >> robot.lock(); > >> robot.setHeading(180); > >> robot.unlock(); > >> ArUtil::sleep(5000); > >> while(robot.isHeadingDone(180)==false) > >> { > >> } > >> robot.lock(); > >> robot.move(dx); > >> robot.unlock(); > >> ArUtil::sleep(10000); > >> while(robot.isMoveDone()==false) > >> { > >> } > >> > >> > >> ------------------------------------------------------------------------ > >> > >> _______________________________________________ > >> 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. > > > -- > Tobias Knewitz > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen > Abt. Hochfrequenz- und Mikrowellentechnik > Nordostpark 93 > 90411 N?rnberg > Telefon +49 (0) 911 58 06 1-32 72 > Fax +49 (0) 911 58 06 1-32 99 > E-Mail knewitts at iis.fraunhofer.de > Internet www.iis.fraunhofer.de > _______________________________________________ > 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/20100519/15ea7b05/attachment.html From reed at mobilerobots.com Wed May 19 16:07:52 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 19 May 2010 16:07:52 -0400 Subject: [Aria-users] robot move() problem In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> Message-ID: <4BF44518.1050001@mobilerobots.com> There was a bug MobileSim 0.4 and earlier regarding the MOVE command, but it was fixed. This may be a similar but more subtle issue, I'll try to reproduce it. What do you mean by it moving after a code modification? Bruno Maeda wrote: > Hi, > > I'm trying just this: > > robot.lock(); > robot.move(1000); > robot.unlock(); > > and the robot just don't move (actually, it moves sometimes, usually > after some code modification, even if there is nothing to do whith this > part of the code) > Is that really a simulator bug? Because it's just this command i'm > having problems with. > > Thanks > > toshy maeda > > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz > > wrote: > > Hi, > > I had the same problem with my Pioneer3AT. I think it's a bug in > MobilSim because it didn't appear when my programm was running on > the robot. > > Toby > > Reed Hedges wrote: > > Hi, I will try to reproduce the problem and find possible causes, > I'll > > let you know what I think of. > > > > Reed > > > > > > ???????? wrote: > >> Hi, > >> I run in my program some simple command to move the robot(directly). > >> When I move the robot for some distance it works well. But if I > turn it > >> by 180 degrees and move it the same distance it travels more > than two > >> times of the distance I chose. How can it happen?? > >> > >> This is that part: > >> > >> robot.lock(); > >> robot.move(dx); > >> robot.unlock(); > >> ArUtil::sleep(5000); > >> while(robot.isMoveDone()==false) > >> { > >> } > >> robot.lock(); > >> robot.setHeading(180); > >> robot.unlock(); > >> ArUtil::sleep(5000); > >> while(robot.isHeadingDone(180)==false) > >> { > >> } > >> robot.lock(); > >> robot.move(dx); > >> robot.unlock(); > >> ArUtil::sleep(10000); > >> while(robot.isMoveDone()==false) > >> { > >> } > >> > >> > >> > ------------------------------------------------------------------------ > >> > >> _______________________________________________ > >> 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. > > > -- > Tobias Knewitz > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen > Abt. Hochfrequenz- und Mikrowellentechnik > Nordostpark 93 > 90411 N?rnberg > Telefon +49 (0) 911 58 06 1-32 72 > Fax +49 (0) 911 58 06 1-32 99 > E-Mail knewitts at iis.fraunhofer.de > Internet www.iis.fraunhofer.de > _______________________________________________ > 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 May 19 16:08:34 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 19 May 2010 16:08:34 -0400 Subject: [Aria-users] robot move() problem In-Reply-To: References: Message-ID: <4BF44542.9000901@mobilerobots.com> Can you check the "sim/real ratio" at the bottom of the window, especially when you see the problem happening? Dimitris wrote: > Thanks. It's probably a bug. I cannot try this on the real robot at the > moment. It occurs the most times that I move the robot in every > direction except for right(or diagonally right and up or right and > down). It happens even if I move the robot for some distance right, and > then I move it backwards without turning it first. Usually it moves the > robot about 2.25 * the distance I put. Some times it keeps moving until > it finds a wall. The same happened using aractiongoto instance and > simple motion commands. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 toshy.maeda at gmail.com Wed May 19 16:37:04 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Wed, 19 May 2010 17:37:04 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: <4BF44542.9000901@mobilerobots.com> References: <4BF44542.9000901@mobilerobots.com> Message-ID: i've updated to version 0.5, but now when i use: robot.lock(); robot.move(1000.0); robot.unlock(); the robot walks 1 meter back, not forth. Is thas alright? thanks toshy maeda On Wed, May 19, 2010 at 5:08 PM, Reed Hedges wrote: > > Can you check the "sim/real ratio" at the bottom of the window, especially > when > you see the problem happening? > > > Dimitris wrote: > > Thanks. It's probably a bug. I cannot try this on the real robot at the > > moment. It occurs the most times that I move the robot in every > > direction except for right(or diagonally right and up or right and > > down). It happens even if I move the robot for some distance right, and > > then I move it backwards without turning it first. Usually it moves the > > robot about 2.25 * the distance I put. Some times it keeps moving until > > it finds a wall. The same happened using aractiongoto instance and > > simple motion commands. > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > 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/20100519/1b253345/attachment-0001.html From toshy.maeda at gmail.com Wed May 19 16:38:03 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Wed, 19 May 2010 17:38:03 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: <4BF44518.1050001@mobilerobots.com> References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> Message-ID: i've updated to version 0.5, but now when i use: robot.lock(); robot.move(1000.0); robot.unlock(); the robot walks 1 meter back, not forth. Is thas alright? thanks toshy maeda ps: sorry, i sent a message to the wrong thread On Wed, May 19, 2010 at 5:07 PM, Reed Hedges wrote: > > There was a bug MobileSim 0.4 and earlier regarding the MOVE command, but > it was > fixed. This may be a similar but more subtle issue, I'll try to reproduce > it. > > What do you mean by it moving after a code modification? > > Bruno Maeda wrote: > > Hi, > > > > I'm trying just this: > > > > robot.lock(); > > robot.move(1000); > > robot.unlock(); > > > > and the robot just don't move (actually, it moves sometimes, usually > > after some code modification, even if there is nothing to do whith this > > part of the code) > > Is that really a simulator bug? Because it's just this command i'm > > having problems with. > > > > Thanks > > > > toshy maeda > > > > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz > > > wrote: > > > > Hi, > > > > I had the same problem with my Pioneer3AT. I think it's a bug in > > MobilSim because it didn't appear when my programm was running on > > the robot. > > > > Toby > > > > Reed Hedges wrote: > > > Hi, I will try to reproduce the problem and find possible causes, > > I'll > > > let you know what I think of. > > > > > > Reed > > > > > > > > > ???????? wrote: > > >> Hi, > > >> I run in my program some simple command to move the > robot(directly). > > >> When I move the robot for some distance it works well. But if I > > turn it > > >> by 180 degrees and move it the same distance it travels more > > than two > > >> times of the distance I chose. How can it happen?? > > >> > > >> This is that part: > > >> > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.setHeading(180); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isHeadingDone(180)==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(10000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> > > >> > > >> > > > ------------------------------------------------------------------------ > > >> > > >> _______________________________________________ > > >> 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. > > > > > > -- > > Tobias Knewitz > > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen > > Abt. Hochfrequenz- und Mikrowellentechnik > > Nordostpark 93 > > 90411 N?rnberg > > Telefon +49 (0) 911 58 06 1-32 72 > > Fax +49 (0) 911 58 06 1-32 99 > > E-Mail knewitts at iis.fraunhofer.de knewitts at iis.fraunhofer.de> > > Internet www.iis.fraunhofer.de > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > > Visit http://robots.mobilerobots.com for information including > > documentation, FAQ, tips, manuals, and software, firmware and driver > > downloads. > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100519/46402588/attachment.html From zhossain.kuet at yahoo.com Wed May 19 18:54:46 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Wed, 19 May 2010 15:54:46 -0700 (PDT) Subject: [Aria-users] error loading shared library libcv.so.4 at runtime In-Reply-To: <4BF3E8BF.9050600@mobilerobots.com> References: <867262280681BB458075CA7E5C8F9C0502726C08@beech.ads.ntu.ac.uk> <4BF2A463.5030304@mobilerobots.com> <867262280681BB458075CA7E5C8F9C0502726D0B@beech.ads.ntu.ac.uk> <4BF2AB4A.9050606@mobilerobots.com> <686132.88592.qm@web46409.mail.sp1.yahoo.com> <4BF3E8BF.9050600@mobilerobots.com> Message-ID: <546561.40769.qm@web46416.mail.sp1.yahoo.com> Hi Reed.........thanks.....that was added......ld.so.conf file like this......... ........... include /etc/ld.so.conf.d/*.conf /usr/local/Aria/lib /usr/local/opencv/lib .............. hossain ________________________________ From: Reed Hedges To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) " Sent: Thu, May 20, 2010 1:33:51 AM Subject: Re: [Aria-users] error loading shared library libcv.so.4 at runtime Add /usr/local/OpenCV/lib to your runtime library path. To do so, either add /usr/local/OpenCV/lib to the /etc/ld.so.conf file, or add it to the LD_LIBRARY_PATH environment variable. Reed Md. Zulfikar Hossain wrote: > Hi Aria-users > > I'm getting this error.... > > > ./image: error while loading shared libraries: libcv.so.4: cannot open > shared object file: No such file or directory > > > simple Makefile which one i was using......... > > > CPP=g++ > CFLAGS=-lcv -lcvaux -lcxcore -lhighgui -lstdc++ -lAria -lpthread -ldl -lrt > INCL = -I/usr/local/OpenCV/include/opencv -I/usr/local/Aria/include > LIB =-L/usr/local/OpenCV/lib -L/usr/local/Aria/lib > %:%.cpp > $(CPP) $(INCL) $(LIB) $(CFLAGS) $^ -o $@ > > please reply me as soon as possible. > thanks in advance > Hossain > > > ------------------------------------------------------------------------ > *From:* Reed Hedges > *To:* "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > *Sent:* Wed, May 19, 2010 2:59:22 AM > *Subject:* Re: [Aria-users] Displaying robot's view on iPhone > > > It looks like your server is sending the image data just as it captured > by OpenCV. Check the OpenCV documentation (probably start looking at > the cvCaptureFromCAM() function, CvCapture type, cvQueryFrame() > function) to find out how this image data is encoded. OpenCV should > also I think have some tools for converting/compressing it, e.g. to jpeg > or even into a movie format like mpeg that could easily be displayed on > the iPhone using the iPhone SDK. (Or you can use libjpeg on Linux to > encode and compress it as a jpeg.) > > Reed > > > Ibrani, Lavdrus wrote: > > Here is the video server code I use: > > > > //Gazebot:: This is the server that forwards images from the camera to > > the client. Running in startup of the system. > > //This should be run prior to running the client on the remtoe pc. > > > > #include "headers.h" > > > > int main() > > { > > //Gazebot:: openCV initialization to enable grabbing and > > creating buffer > > IplImage* img=0; //the image grabbed from the camera > > CvCapture * capture=cvCaptureFromCAM(CV_CAP_ANY);//the capture > > that uses the camera > > char *imgToSend; //the buffer to include the image data to write > > to the socket > > int bufferIndex=0; //the number of bytes of the buffer= size of > > the image data > > // The size of the string the client sent > > size_t strSize; > > > > // The socket objects: one for accepting new client connections, > > // and another for communicating with a client after it > > connects. > > ArSocket serverSock, clientSock; > > > > // Initialize Aria. This is especially essential on Windows, > > // because it will initialize Windows's sockets sytem. > > Aria::init(); > > // The buffer in which to recieve the message from the client > > char buff[5]; > > //Open the server port > > if (serverSock.open(8888, ArSocket::TCP)) > > ArLog::log(ArLog::Normal, "videoService: Opened the server > > port."); > > else > > ArLog::log(ArLog::Normal, "videoService: Failed to open the > > server port: %s.", > > serverSock.getErrorStr().c_str()); > > > > //continue forever "listening to the client" > > while(1) > > { > > // Wait for a client to connect to us. > > ArLog::log(ArLog::Normal,"videoService: Waiting for > > client to connect....."); > > if (serverSock.accept(&clientSock)) > > ArLog::log(ArLog::Normal, "videoService: Client > > has connected."); > > else > > ArLog::log(ArLog::Terse, "videoService: Error in > > accepting a connection from the client: %s.", > > serverSock.getErrorStr().c_str()); > > ArLog::log(ArLog::Normal,"videoService: Grabbing and > > sending images over to the client."); > > > > //Grabbing images, creating the buffer and writing to > > the socket > > for(;;) > > { > > //grabbing images from the video capture and > > creating the buffer to send > > img=cvQueryFrame(capture); > > imgToSend=img->imageData; > > bufferIndex=img->imageSize; > > > > > > // Send the image buffer to the client. write() > > should > > // return the same number of bytes that we told > > it to write. Otherwise, > > // its an error condition. > > if (clientSock.write(imgToSend, bufferIndex) != > > bufferIndex) > > ArLog::log(ArLog::Normal,"videoService: > > Error sending image over socket."); > > > > // Read data from the client. read() will block > > until data is received. Therfore: > > //Gazebot:: we don't send another image until > > the previos one has been received completely. > > strSize=clientSock.read(buff, sizeof(buff)); > > > > // If the amount read is 0 or less, its an error > > condition. client has disconnected. > > if(strSize ==-1 || strSize==0) > > { > > ArLog::log(ArLog::Normal, "videoService: > > Error in reading from the client."); > > clientSock.close(); > > break; > > } > > } > > // Now lets close the connection to the client > > clientSock.close(); > > ArLog::log(ArLog::Normal, "videoService: Socket to > > client closed."); > > > > } //Going back to the continues loop to listen to new > > calls from clients > > > > // And lets close the server port > > serverSock.close(); > > ArLog::log(ArLog::Normal, "videoService: Server socket > > closed."); > > > > // Uninitialize Aria > > Aria::uninit(); > > > > // All done > > return(0); > > } > > > > -----Original Message----- > > From: aria-users-bounces at lists.mobilerobots.com > > > [mailto:aria-users-bounces at lists.mobilerobots.com > ] On Behalf Of Reed > > Hedges > > Sent: 18 May 2010 15:30 > > To: Help,discussion and announcements for MobileRobots' Advanced Robot > > Interfacefor Applications (ARIA) > > Subject: Re: [Aria-users] Displaying robot's view on iPhone > > > > > > Hello, > > > > Ibrani, Lavdrus wrote: > >> I'm successfully using iPhone to control aria mobile robot pioneer 3. > > > > Sounds like a fun project. Let us know if/when you put anything on the > > web (paper, video, photos) about it! > > > >> The robot has a camera attached to it and a video server code on the > >> onboard computer, that grabs and sends the images to the client > > > > What is this video server code? Is it SAVServer? ACTS? Something else? > > > > SAVServer and ACTS send JPEGs (Each packet contains the width and height > > (pixels) as 16-bit integers, followed by the JPEG image data, see > > ArNetworking/examples/getVideoExample.cpp for an example.) > > > > Reed > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > >> Visit http://robots.mobilerobots.com for information including > > documentation, FAQ, tips, manuals, and software, firmware and driver > > downloads. > > > > This email is intended solely for the addressee. It may contain > private and confidential information. If you are not the intended > addressee, please take no action based on it nor show a copy to anyone. > In this case, please reply to this email to highlight the error. > Opinions and information in this email that do not relate to the > official business of Nottingham Trent University shall be understood as > neither given nor endorsed by the University. > > Nottingham Trent University has taken steps to ensure that this email > and any attachments are virus-free, but we do advise that the recipient > should check that the email and its attachments are actually virus > free. This is in keeping with good computing practice. > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100519/db4b72aa/attachment-0001.html From dimitris312 at gmail.com Thu May 20 05:58:52 2010 From: dimitris312 at gmail.com (Dimitris) Date: Thu, 20 May 2010 12:58:52 +0300 Subject: [Aria-users] robot move() problem Message-ID: The sim/real ratio doesn't seem different when the problem is happening. It is usually 1.02-1.04 and sometimes 1.11-1.13, I think, whatever the move is. I tried it many times but I couldn't find any difference. Maybe the ratio has a smaller range when the problem is happening, but I am not sure about this. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100520/b093f724/attachment.html From toshy.maeda at gmail.com Thu May 20 10:51:23 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 20 May 2010 11:51:23 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> Message-ID: now i've installed the MobileSim-0.4.0-1.exe, and it seems to be the best one working here for now, i don't know why (v5 don't even render my map alright, and make my robot walk backwards). But i'm still having problems whith the ArRobot::move() command, and would like to know if there is a recent correction for this, or if there is just another way so that i can make my robot move forward for some distance. thanks. toshy maeda On Wed, May 19, 2010 at 5:38 PM, Bruno Maeda wrote: > i've updated to version 0.5, but now when i use: > > robot.lock(); > robot.move(1000.0); > robot.unlock(); > > the robot walks 1 meter back, not forth. Is thas alright? > > thanks > toshy maeda > > ps: sorry, i sent a message to the wrong thread > > On Wed, May 19, 2010 at 5:07 PM, Reed Hedges wrote: > >> >> There was a bug MobileSim 0.4 and earlier regarding the MOVE command, but >> it was >> fixed. This may be a similar but more subtle issue, I'll try to reproduce >> it. >> >> What do you mean by it moving after a code modification? >> >> Bruno Maeda wrote: >> > Hi, >> > >> > I'm trying just this: >> > >> > robot.lock(); >> > robot.move(1000); >> > robot.unlock(); >> > >> > and the robot just don't move (actually, it moves sometimes, usually >> > after some code modification, even if there is nothing to do whith this >> > part of the code) >> > Is that really a simulator bug? Because it's just this command i'm >> > having problems with. >> > >> > Thanks >> > >> > toshy maeda >> > >> > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz >> > > wrote: >> > >> > Hi, >> > >> > I had the same problem with my Pioneer3AT. I think it's a bug in >> > MobilSim because it didn't appear when my programm was running on >> > the robot. >> > >> > Toby >> > >> > Reed Hedges wrote: >> > > Hi, I will try to reproduce the problem and find possible causes, >> > I'll >> > > let you know what I think of. >> > > >> > > Reed >> > > >> > > >> > > ???????? wrote: >> > >> Hi, >> > >> I run in my program some simple command to move the >> robot(directly). >> > >> When I move the robot for some distance it works well. But if I >> > turn it >> > >> by 180 degrees and move it the same distance it travels more >> > than two >> > >> times of the distance I chose. How can it happen?? >> > >> >> > >> This is that part: >> > >> >> > >> robot.lock(); >> > >> robot.move(dx); >> > >> robot.unlock(); >> > >> ArUtil::sleep(5000); >> > >> while(robot.isMoveDone()==false) >> > >> { >> > >> } >> > >> robot.lock(); >> > >> robot.setHeading(180); >> > >> robot.unlock(); >> > >> ArUtil::sleep(5000); >> > >> while(robot.isHeadingDone(180)==false) >> > >> { >> > >> } >> > >> robot.lock(); >> > >> robot.move(dx); >> > >> robot.unlock(); >> > >> ArUtil::sleep(10000); >> > >> while(robot.isMoveDone()==false) >> > >> { >> > >> } >> > >> >> > >> >> > >> >> > >> ------------------------------------------------------------------------ >> > >> >> > >> _______________________________________________ >> > >> 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. >> > >> > >> > -- >> > Tobias Knewitz >> > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen >> > Abt. Hochfrequenz- und Mikrowellentechnik >> > Nordostpark 93 >> > 90411 N?rnberg >> > Telefon +49 (0) 911 58 06 1-32 72 >> > Fax +49 (0) 911 58 06 1-32 99 >> > E-Mail knewitts at iis.fraunhofer.de > knewitts at iis.fraunhofer.de> >> > Internet www.iis.fraunhofer.de >> > _______________________________________________ >> > Aria-users mailing list >> > Aria-users at lists.mobilerobots.com >> > >> > http://lists.mobilerobots.com/mailman/listinfo/aria-users >> > >> > To unsubscribe visit the above webpage or send an e-mail to: >> > >> > aria-users-leave at lists.mobilerobots.com >> > >> > >> > Visit http://robots.mobilerobots.com for information including >> > documentation, FAQ, tips, manuals, and software, firmware and driver >> > downloads. >> > >> > >> > >> > ------------------------------------------------------------------------ >> > >> > _______________________________________________ >> > Aria-users mailing list >> > Aria-users at lists.mobilerobots.com >> > http://lists.mobilerobots.com/mailman/listinfo/aria-users >> > >> > To unsubscribe visit the above webpage or send an e-mail to: >> > >> > aria-users-leave at lists.mobilerobots.com >> > >> > Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100520/6aefe2eb/attachment.html From toshy.maeda at gmail.com Thu May 20 11:01:50 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 20 May 2010 12:01:50 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> Message-ID: Thanks. I'm using the setVel for now... I gess it kind of fits for my purpose, at least while i can't use move on mobileSim. robot.lock(); robot.setVel(500); robot.unlock(); ArUtil::sleep(3*1000); robot.lock(); robot.stop(); robot.unlock(); ArUtil::sleep(10*1000); thanks toshy maeda On Thu, May 20, 2010 at 11:51 AM, Bruno Maeda wrote: > now i've installed the MobileSim-0.4.0-1.exe, and it seems to be the best > one working here for now, i don't know why (v5 don't even render my map > alright, and make my robot walk backwards). But i'm still having problems > whith the ArRobot::move() command, and would like to know if there is a > recent correction for this, or if there is just another way so that i can > make my robot move forward for some distance. > > thanks. > toshy maeda > > > On Wed, May 19, 2010 at 5:38 PM, Bruno Maeda wrote: > >> i've updated to version 0.5, but now when i use: >> >> robot.lock(); >> robot.move(1000.0); >> robot.unlock(); >> >> the robot walks 1 meter back, not forth. Is thas alright? >> >> thanks >> toshy maeda >> >> ps: sorry, i sent a message to the wrong thread >> >> On Wed, May 19, 2010 at 5:07 PM, Reed Hedges wrote: >> >>> >>> There was a bug MobileSim 0.4 and earlier regarding the MOVE command, but >>> it was >>> fixed. This may be a similar but more subtle issue, I'll try to reproduce >>> it. >>> >>> What do you mean by it moving after a code modification? >>> >>> Bruno Maeda wrote: >>> > Hi, >>> > >>> > I'm trying just this: >>> > >>> > robot.lock(); >>> > robot.move(1000); >>> > robot.unlock(); >>> > >>> > and the robot just don't move (actually, it moves sometimes, usually >>> > after some code modification, even if there is nothing to do whith this >>> > part of the code) >>> > Is that really a simulator bug? Because it's just this command i'm >>> > having problems with. >>> > >>> > Thanks >>> > >>> > toshy maeda >>> > >>> > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz >>> > > >>> wrote: >>> > >>> > Hi, >>> > >>> > I had the same problem with my Pioneer3AT. I think it's a bug in >>> > MobilSim because it didn't appear when my programm was running on >>> > the robot. >>> > >>> > Toby >>> > >>> > Reed Hedges wrote: >>> > > Hi, I will try to reproduce the problem and find possible >>> causes, >>> > I'll >>> > > let you know what I think of. >>> > > >>> > > Reed >>> > > >>> > > >>> > > ???????? wrote: >>> > >> Hi, >>> > >> I run in my program some simple command to move the >>> robot(directly). >>> > >> When I move the robot for some distance it works well. But if I >>> > turn it >>> > >> by 180 degrees and move it the same distance it travels more >>> > than two >>> > >> times of the distance I chose. How can it happen?? >>> > >> >>> > >> This is that part: >>> > >> >>> > >> robot.lock(); >>> > >> robot.move(dx); >>> > >> robot.unlock(); >>> > >> ArUtil::sleep(5000); >>> > >> while(robot.isMoveDone()==false) >>> > >> { >>> > >> } >>> > >> robot.lock(); >>> > >> robot.setHeading(180); >>> > >> robot.unlock(); >>> > >> ArUtil::sleep(5000); >>> > >> while(robot.isHeadingDone(180)==false) >>> > >> { >>> > >> } >>> > >> robot.lock(); >>> > >> robot.move(dx); >>> > >> robot.unlock(); >>> > >> ArUtil::sleep(10000); >>> > >> while(robot.isMoveDone()==false) >>> > >> { >>> > >> } >>> > >> >>> > >> >>> > >> >>> > >>> ------------------------------------------------------------------------ >>> > >> >>> > >> _______________________________________________ >>> > >> 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. >>> > >>> > >>> > -- >>> > Tobias Knewitz >>> > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen >>> > Abt. Hochfrequenz- und Mikrowellentechnik >>> > Nordostpark 93 >>> > 90411 N?rnberg >>> > Telefon +49 (0) 911 58 06 1-32 72 >>> > Fax +49 (0) 911 58 06 1-32 99 >>> > E-Mail knewitts at iis.fraunhofer.de >> knewitts at iis.fraunhofer.de> >>> > Internet www.iis.fraunhofer.de >>> > _______________________________________________ >>> > Aria-users mailing list >>> > Aria-users at lists.mobilerobots.com >>> > >>> > http://lists.mobilerobots.com/mailman/listinfo/aria-users >>> > >>> > To unsubscribe visit the above webpage or send an e-mail to: >>> > >>> > aria-users-leave at lists.mobilerobots.com >>> > >>> > >>> > Visit http://robots.mobilerobots.com for information including >>> > documentation, FAQ, tips, manuals, and software, firmware and >>> driver >>> > downloads. >>> > >>> > >>> > >>> > >>> ------------------------------------------------------------------------ >>> > >>> > _______________________________________________ >>> > Aria-users mailing list >>> > Aria-users at lists.mobilerobots.com >>> > http://lists.mobilerobots.com/mailman/listinfo/aria-users >>> > >>> > To unsubscribe visit the above webpage or send an e-mail to: >>> > >>> > aria-users-leave at lists.mobilerobots.com >>> > >>> > Visit http://robots.mobilerobots.com for information including >>> documentation, FAQ, tips, manuals, and software, firmware and driver >>> downloads. >>> >>> _______________________________________________ >>> Aria-users mailing list >>> Aria-users at lists.mobilerobots.com >>> http://lists.mobilerobots.com/mailman/listinfo/aria-users >>> >>> To unsubscribe visit the above webpage or send an e-mail to: >>> >>> aria-users-leave at lists.mobilerobots.com >>> >>> Visit http://robots.mobilerobots.com for information including >>> documentation, FAQ, tips, manuals, and software, firmware and driver >>> downloads. >>> >> >> > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100520/02609d2e/attachment-0001.html From reed at mobilerobots.com Thu May 20 11:12:46 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 20 May 2010 11:12:46 -0400 Subject: [Aria-users] robot move() problem In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> Message-ID: <4BF5516E.9050500@mobilerobots.com> Are you using Windows Vista? There are some weird render problems there. (If anyone knows why such problems might only happen on Vista, but not XP, I'd appreciate any information you know!) Bruno Maeda wrote: > now i've installed the MobileSim-0.4.0-1.exe, and it seems to be the > best one working here for now, i don't know why (v5 don't even render my > map alright, and make my robot walk backwards). But i'm still having > problems whith the ArRobot::move() command, and would like to know if > there is a recent correction for this, or if there is just another way > so that i can make my robot move forward for some distance. > > thanks. > toshy maeda > > On Wed, May 19, 2010 at 5:38 PM, Bruno Maeda > wrote: > > i've updated to version 0.5, but now when i use: > > robot.lock(); > robot.move(1000.0); > robot.unlock(); > > the robot walks 1 meter back, not forth. Is thas alright? > > thanks > toshy maeda > > ps: sorry, i sent a message to the wrong thread > > On Wed, May 19, 2010 at 5:07 PM, Reed Hedges > wrote: > > > There was a bug MobileSim 0.4 and earlier regarding the MOVE > command, but it was > fixed. This may be a similar but more subtle issue, I'll try to > reproduce it. > > What do you mean by it moving after a code modification? > > Bruno Maeda wrote: > > Hi, > > > > I'm trying just this: > > > > robot.lock(); > > robot.move(1000); > > robot.unlock(); > > > > and the robot just don't move (actually, it moves sometimes, > usually > > after some code modification, even if there is nothing to do > whith this > > part of the code) > > Is that really a simulator bug? Because it's just this > command i'm > > having problems with. > > > > Thanks > > > > toshy maeda > > > > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz > > > >> wrote: > > > > Hi, > > > > I had the same problem with my Pioneer3AT. I think it's a > bug in > > MobilSim because it didn't appear when my programm was > running on > > the robot. > > > > Toby > > > > Reed Hedges wrote: > > > Hi, I will try to reproduce the problem and find > possible causes, > > I'll > > > let you know what I think of. > > > > > > Reed > > > > > > > > > ???????? wrote: > > >> Hi, > > >> I run in my program some simple command to move the > robot(directly). > > >> When I move the robot for some distance it works > well. But if I > > turn it > > >> by 180 degrees and move it the same distance it > travels more > > than two > > >> times of the distance I chose. How can it happen?? > > >> > > >> This is that part: > > >> > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.setHeading(180); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isHeadingDone(180)==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(10000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> > > >> > > >> > > > ------------------------------------------------------------------------ > > >> > > >> _______________________________________________ > > >> 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. > > > > > > -- > > Tobias Knewitz > > Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen > > Abt. Hochfrequenz- und Mikrowellentechnik > > Nordostpark 93 > > 90411 N?rnberg > > Telefon +49 (0) 911 58 06 1-32 72 > > Fax +49 (0) 911 58 06 1-32 99 > > E-Mail knewitts at iis.fraunhofer.de > > > > > Internet www.iis.fraunhofer.de > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > > > > Visit http://robots.mobilerobots.com for information > including > > documentation, FAQ, tips, manuals, and software, firmware > and driver > > downloads. > > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > Visit http://robots.mobilerobots.com for information > including documentation, FAQ, tips, manuals, and software, > firmware and driver downloads. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and > driver downloads. > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Thu May 20 11:13:47 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Thu, 20 May 2010 11:13:47 -0400 Subject: [Aria-users] robot move() problem In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> Message-ID: <4BF551AB.2020602@mobilerobots.com> setVel is a more generally useful way to move the robot. A MOVE bug (ignoring multiple moves) was fixed in MobileSim 0.4.1 Reed Bruno Maeda wrote: > Thanks. I'm using the setVel for now... I gess it kind of fits for my > purpose, at least while i can't use move on mobileSim. > > robot.lock(); > robot.setVel(500); > robot.unlock(); > ArUtil::sleep(3*1000); > robot.lock(); > robot.stop(); > robot.unlock(); > ArUtil::sleep(10*1000); > > thanks > toshy maeda > > On Thu, May 20, 2010 at 11:51 AM, Bruno Maeda > wrote: > > now i've installed the MobileSim-0.4.0-1.exe, and it seems to be the > best one working here for now, i don't know why (v5 don't even > render my map alright, and make my robot walk backwards). But i'm > still having problems whith the ArRobot::move() command, and would > like to know if there is a recent correction for this, or if there > is just another way so that i can make my robot move forward for > some distance. > > thanks. > toshy maeda > > > On Wed, May 19, 2010 at 5:38 PM, Bruno Maeda > wrote: > > i've updated to version 0.5, but now when i use: > > robot.lock(); > robot.move(1000.0); > robot.unlock(); > > the robot walks 1 meter back, not forth. Is thas alright? > > thanks > toshy maeda > > ps: sorry, i sent a message to the wrong thread > > On Wed, May 19, 2010 at 5:07 PM, Reed Hedges > > wrote: > > > There was a bug MobileSim 0.4 and earlier regarding the MOVE > command, but it was > fixed. This may be a similar but more subtle issue, I'll try > to reproduce it. > > What do you mean by it moving after a code modification? > > Bruno Maeda wrote: > > Hi, > > > > I'm trying just this: > > > > robot.lock(); > > robot.move(1000); > > robot.unlock(); > > > > and the robot just don't move (actually, it moves > sometimes, usually > > after some code modification, even if there is nothing to > do whith this > > part of the code) > > Is that really a simulator bug? Because it's just this > command i'm > > having problems with. > > > > Thanks > > > > toshy maeda > > > > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz > > > >> wrote: > > > > Hi, > > > > I had the same problem with my Pioneer3AT. I think > it's a bug in > > MobilSim because it didn't appear when my programm > was running on > > the robot. > > > > Toby > > > > Reed Hedges wrote: > > > Hi, I will try to reproduce the problem and find > possible causes, > > I'll > > > let you know what I think of. > > > > > > Reed > > > > > > > > > ???????? wrote: > > >> Hi, > > >> I run in my program some simple command to move > the robot(directly). > > >> When I move the robot for some distance it works > well. But if I > > turn it > > >> by 180 degrees and move it the same distance it > travels more > > than two > > >> times of the distance I chose. How can it happen?? > > >> > > >> This is that part: > > >> > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.setHeading(180); > > >> robot.unlock(); > > >> ArUtil::sleep(5000); > > >> while(robot.isHeadingDone(180)==false) > > >> { > > >> } > > >> robot.lock(); > > >> robot.move(dx); > > >> robot.unlock(); > > >> ArUtil::sleep(10000); > > >> while(robot.isMoveDone()==false) > > >> { > > >> } > > >> > > >> > > >> > > > ------------------------------------------------------------------------ > > >> > > >> _______________________________________________ > > >> 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. > > > > > > -- > > Tobias Knewitz > > Fraunhofer Gesellschaft Institut f?r Integrierte > Schaltungen > > Abt. Hochfrequenz- und Mikrowellentechnik > > Nordostpark 93 > > 90411 N?rnberg > > Telefon +49 (0) 911 58 06 1-32 72 > > Fax +49 (0) 911 58 06 1-32 99 > > E-Mail knewitts at iis.fraunhofer.de > > > > > Internet www.iis.fraunhofer.de > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an > e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > > > > Visit http://robots.mobilerobots.com for information > including > > documentation, FAQ, tips, manuals, and software, > firmware and driver > > downloads. > > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > Visit http://robots.mobilerobots.com for information > including documentation, FAQ, tips, manuals, and software, > firmware and driver downloads. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information > including documentation, FAQ, tips, manuals, and software, > firmware and driver downloads. > > > > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From toshy.maeda at gmail.com Thu May 20 11:45:18 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 20 May 2010 12:45:18 -0300 Subject: [Aria-users] robot move() problem In-Reply-To: <4BF551AB.2020602@mobilerobots.com> References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> <4BF551AB.2020602@mobilerobots.com> Message-ID: yes, i'm using windows vista 64bits. and yes, i think i can use setVel in a good way for my project.. thanks reed. toshy maeda On Thu, May 20, 2010 at 12:13 PM, Reed Hedges wrote: > > setVel is a more generally useful way to move the robot. > > A MOVE bug (ignoring multiple moves) was fixed in MobileSim 0.4.1 > > Reed > > > Bruno Maeda wrote: > > Thanks. I'm using the setVel for now... I gess it kind of fits for my > > purpose, at least while i can't use move on mobileSim. > > > > robot.lock(); > > robot.setVel(500); > > robot.unlock(); > > ArUtil::sleep(3*1000); > > robot.lock(); > > robot.stop(); > > robot.unlock(); > > ArUtil::sleep(10*1000); > > > > thanks > > toshy maeda > > > > On Thu, May 20, 2010 at 11:51 AM, Bruno Maeda > > wrote: > > > > now i've installed the MobileSim-0.4.0-1.exe, and it seems to be the > > best one working here for now, i don't know why (v5 don't even > > render my map alright, and make my robot walk backwards). But i'm > > still having problems whith the ArRobot::move() command, and would > > like to know if there is a recent correction for this, or if there > > is just another way so that i can make my robot move forward for > > some distance. > > > > thanks. > > toshy maeda > > > > > > On Wed, May 19, 2010 at 5:38 PM, Bruno Maeda > > wrote: > > > > i've updated to version 0.5, but now when i use: > > > > robot.lock(); > > robot.move(1000.0); > > robot.unlock(); > > > > the robot walks 1 meter back, not forth. Is thas alright? > > > > thanks > > toshy maeda > > > > ps: sorry, i sent a message to the wrong thread > > > > On Wed, May 19, 2010 at 5:07 PM, Reed Hedges > > > wrote: > > > > > > There was a bug MobileSim 0.4 and earlier regarding the MOVE > > command, but it was > > fixed. This may be a similar but more subtle issue, I'll try > > to reproduce it. > > > > What do you mean by it moving after a code modification? > > > > Bruno Maeda wrote: > > > Hi, > > > > > > I'm trying just this: > > > > > > robot.lock(); > > > robot.move(1000); > > > robot.unlock(); > > > > > > and the robot just don't move (actually, it moves > > sometimes, usually > > > after some code modification, even if there is nothing to > > do whith this > > > part of the code) > > > Is that really a simulator bug? Because it's just this > > command i'm > > > having problems with. > > > > > > Thanks > > > > > > toshy maeda > > > > > > On Tue, May 18, 2010 at 12:47 PM, Tobias Knewitz > > > > > > > >> wrote: > > > > > > Hi, > > > > > > I had the same problem with my Pioneer3AT. I think > > it's a bug in > > > MobilSim because it didn't appear when my programm > > was running on > > > the robot. > > > > > > Toby > > > > > > Reed Hedges wrote: > > > > Hi, I will try to reproduce the problem and find > > possible causes, > > > I'll > > > > let you know what I think of. > > > > > > > > Reed > > > > > > > > > > > > ???????? wrote: > > > >> Hi, > > > >> I run in my program some simple command to move > > the robot(directly). > > > >> When I move the robot for some distance it works > > well. But if I > > > turn it > > > >> by 180 degrees and move it the same distance it > > travels more > > > than two > > > >> times of the distance I chose. How can it happen?? > > > >> > > > >> This is that part: > > > >> > > > >> robot.lock(); > > > >> robot.move(dx); > > > >> robot.unlock(); > > > >> ArUtil::sleep(5000); > > > >> while(robot.isMoveDone()==false) > > > >> { > > > >> } > > > >> robot.lock(); > > > >> robot.setHeading(180); > > > >> robot.unlock(); > > > >> ArUtil::sleep(5000); > > > >> while(robot.isHeadingDone(180)==false) > > > >> { > > > >> } > > > >> robot.lock(); > > > >> robot.move(dx); > > > >> robot.unlock(); > > > >> ArUtil::sleep(10000); > > > >> while(robot.isMoveDone()==false) > > > >> { > > > >> } > > > >> > > > >> > > > >> > > > > > > ------------------------------------------------------------------------ > > > >> > > > >> _______________________________________________ > > > >> 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. > > > > > > > > > -- > > > Tobias Knewitz > > > Fraunhofer Gesellschaft Institut f?r Integrierte > > Schaltungen > > > Abt. Hochfrequenz- und Mikrowellentechnik > > > Nordostpark 93 > > > 90411 N?rnberg > > > Telefon +49 (0) 911 58 06 1-32 72 > > > Fax +49 (0) 911 58 06 1-32 99 > > > E-Mail knewitts at iis.fraunhofer.de > > > > > > > > > Internet www.iis.fraunhofer.de > > > > > > _______________________________________________ > > > Aria-users mailing list > > > Aria-users at lists.mobilerobots.com > > > > > > > > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > > > To unsubscribe visit the above webpage or send an > > e-mail to: > > > > > > aria-users-leave at lists.mobilerobots.com > > > > > > > > > > > > > Visit http://robots.mobilerobots.com for information > > including > > > documentation, FAQ, tips, manuals, and software, > > firmware and driver > > > downloads. > > > > > > > > > > > > > > > ------------------------------------------------------------------------ > > > > > > _______________________________________________ > > > Aria-users mailing list > > > Aria-users at lists.mobilerobots.com > > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > > > To unsubscribe visit the above webpage or send an e-mail > to: > > > > > > aria-users-leave at lists.mobilerobots.com > > > > > > > > Visit http://robots.mobilerobots.com for information > > including documentation, FAQ, tips, manuals, and software, > > firmware and driver downloads. > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > > > Visit http://robots.mobilerobots.com for information > > including documentation, FAQ, tips, manuals, and software, > > firmware and driver downloads. > > > > > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > _______________________________________________ > 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/20100520/6b1617de/attachment-0001.html From toshy.maeda at gmail.com Thu May 20 16:28:58 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 20 May 2010 17:28:58 -0300 Subject: [Aria-users] Robot is losting itself Message-ID: I'm simulating some episodes here, and at the end of each episode, I'm reseting the initial pose of the robot to start all over again. Here is the call: // doResetModel void CMLModel::doResetModel() { // Reset internal state variables this->x = 14.5; this->y = -14.5; this->theta = 90.0; ArPose *initialPose = new ArPose(this->x * 1000, this->y * 1000, this->theta); robot->lock(); robot->moveTo(*initialPose); // Localize robot at home. robot->com(ArCommands::SIM_RESET); // reset the simulator to its start position robot->unlock(); this->stall = false; this->goal = false; } The problem is that I'm seeing the robot get lost after the first episode (the first episode runs okay), so I don't know if i'm missing something. Can anyone help me? Oh yeah, I'm using the moveTo() method 'cause I coudn't make the robot get localized with localizeRobotAtHomeBlocking... the robot just kept on thinking it was on (0, 0, 0)... Thanks toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100520/d313bbf7/attachment.html From toshy.maeda at gmail.com Thu May 20 19:56:23 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Thu, 20 May 2010 20:56:23 -0300 Subject: [Aria-users] Problem with ArRobot::currentReadingPolar Message-ID: Hello, I was trying to get the sonar reading using: robot->findRangeDevice("sonar")->currentReadingPolar(-180, 180), but all I could get was max distance 5000. then I try changing the values to [-179.0, 179.0] and it seems it works now. I'm not sure if this is a bug, but I thought you here would like to know. thanks toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100520/9848427a/attachment.html From zhossain.kuet at yahoo.com Fri May 21 03:30:19 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Fri, 21 May 2010 00:30:19 -0700 (PDT) Subject: [Aria-users] getVideoExample.cpp In-Reply-To: References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> <4BF551AB.2020602@mobilerobots.com> Message-ID: <377939.34458.qm@web46414.mail.sp1.yahoo.com> Hi I was running from laptop(connected with robot using LAN) using this command....... ./getVideoExample and getting this error: ....... Usage: ./getVideoExample [hostname] [port] ArClientBase::connect: Failed to open TCP socket. Could not connect to server, exiting... ......... i think you can guess from my query, i'm very newbie...... anyone please tell me a little bit details how will i run that program then i will get video from my camera(cannon vc-c50i) that is mounted on robot(P3-AT). waiting for your reply.. Hossain -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/6095faa1/attachment.html From zhossain.kuet at yahoo.com Fri May 21 03:59:18 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Fri, 21 May 2010 00:59:18 -0700 (PDT) Subject: [Aria-users] getVideoExample.cpp In-Reply-To: <377939.34458.qm@web46414.mail.sp1.yahoo.com> References: <4BF2A57A.6070903@mobilerobots.com> <4BF2B69B.4050506@iis.fraunhofer.de> <4BF44518.1050001@mobilerobots.com> <4BF551AB.2020602@mobilerobots.com> <377939.34458.qm@web46414.mail.sp1.yahoo.com> Message-ID: <661081.55109.qm@web46413.mail.sp1.yahoo.com> hi i've managed to run that program but now it's saying ........... ArClientBase::addHandler: There is no data by the name "getPictureCam1" to handle Finding command for "getPictureCam1" but no data with that name exists Finding command for "getPictureCam1" but no data with that name exists Finding command for "getPictureCam1" but no data with that name exists getCommand is 0 when it probably shouldn't be ........... help me....... hossain ________________________________ From: Md. Zulfikar Hossain To: aria-users at lists.mobilerobots.com Sent: Fri, May 21, 2010 7:30:19 PM Subject: Re: [Aria-users] getVideoExample.cpp Hi I was running from laptop(connected with robot using LAN) using this command....... ./getVideoExample and getting this error: ....... Usage: ./getVideoExample [hostname] [port] ArClientBase::connect: Failed to open TCP socket. Could not connect to server, exiting... ......... i think you can guess from my query, i'm very newbie...... anyone please tell me a little bit details how will i run that program then i will get video from my camera(cannon vc-c50i) that is mounted on robot(P3-AT). waiting for your reply.. Hossain -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/c234fc76/attachment.html From toshy.maeda at gmail.com Fri May 21 09:40:31 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Fri, 21 May 2010 10:40:31 -0300 Subject: [Aria-users] Robot is losting itself In-Reply-To: References: Message-ID: I thing I may need to use "ArSonarLocalizationTask::forceUpdatePose(ArPose forcePose )" to reset the localization pose too, but I just have the robot pointer object on my CMLModel class. Is there a way to obtain my ArSonarLocalizationTask object by the robot object? thanks toshy maeda On Thu, May 20, 2010 at 5:28 PM, Bruno Maeda wrote: > I'm simulating some episodes here, and at the end of each episode, I'm > reseting the initial pose of the robot to start all over again. Here is the > call: > > // doResetModel > void CMLModel::doResetModel() > { > // Reset internal state variables > this->x = 14.5; > this->y = -14.5; > this->theta = 90.0; > ArPose *initialPose = new ArPose(this->x * 1000, this->y * 1000, > this->theta); > robot->lock(); > robot->moveTo(*initialPose); // Localize robot at home. > robot->com(ArCommands::SIM_RESET); // reset the simulator to its start > position > robot->unlock(); > > this->stall = false; > this->goal = false; > } > > The problem is that I'm seeing the robot get lost after the first episode > (the first episode runs okay), so I don't know if i'm missing something. Can > anyone help me? > > Oh yeah, I'm using the moveTo() method 'cause I coudn't make the robot get > localized with localizeRobotAtHomeBlocking... the robot just kept on > thinking it was on (0, 0, 0)... > > Thanks > toshy maeda > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/5eca0414/attachment.html From reed at mobilerobots.com Fri May 21 09:45:51 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 21 May 2010 09:45:51 -0400 Subject: [Aria-users] Sonar Sensors In-Reply-To: <445800D8FD5D3D43878FD7D2842A3047D3D5C0@EXCL2VS2.adir.hull.ac.uk> References: <445800D8FD5D3D43878FD7D2842A3047D3D5C0@EXCL2VS2.adir.hull.ac.uk> Message-ID: <4BF68E8F.6010707@mobilerobots.com> Hello, Hossein Miri wrote: > Hi Reed/Matt, > > I'm a bit confused as to what x, y, th, sonar readings and sonar angles > are precisely. In the code snippet below, numSonar should be 16 > signifying the number of sonar sensors on the panels around the robot, > right??? > > int numSonar; > numSonar = robot->getNumSonar(); Yes, this is the number of sonar the robot has > > Now, sonar_range in the code snippet below is the distance to the > nearest object to the ith sonar sensor, right??? > > int i; > double sonar_range, sonar_angle; > for( i = 0; i < numSonar; i++ ) > { > sonar_range = double( robot->getSonarRange(i) ); > sonar_angle = double( robot->getSonarReading(i)->getSensorTh() ); > } > > What exactly does sonar_angle denote then??? Correct, getSonarRange() returns the distance from the sonar to the obstacle (as detected). getSonarReading() returns an ArSensorReading object. On that object, getSensorTh() is the angle that the sensor faces (the angle that the sonar transducer faces). > > What about x, y, th, range and angle below: > > double x, y, th, range, angle; > x = robot->getX(); > y = robot->getY(); > th = robot->getTh(); This is the position and orientation of the robot. > range = ( robot->checkRangeDevicesCurrentPolar( -70, 70, &angle ) - > robot->getRobotRadius() ); checkRangeDevicesCurrentPolar() looks at all the current range device readings between -70 and 70 degrees, and returns the distance from the robot to the closest reading in that range. If the pointer to angle is given, it puts the angle between the robot and that reading in that variable. From reed at mobilerobots.com Fri May 21 09:48:33 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 21 May 2010 09:48:33 -0400 Subject: [Aria-users] Choosing robot actions In-Reply-To: References: Message-ID: <4BF68F31.2020706@mobilerobots.com> Hi, Are you using ArActions? (Or direct motion commands?) If you are using ArActions, you can enable and disable them at any time. Actions can also be grouped using ArActionGroup, and all the actions in a group can be disabled and disabled. ArNetworking and the demo example program do this in their implementation of Modes -- each mode (ArServerMode for example) has an action group it enables when the mode is set and disables when changed. Reed Bruno Maeda wrote: > Hi, Aria users, > > I'm trying to use Reinforcement Learning on my robot, and I need to, at > each step, "tell" the robot which action to do, based on what my action > policy has decided. But I really don't know how can I implement > something like that using the Aria lib. The AI framework is already > done, so I can choose the actions based on the state of the agent, now > I'm trying to put everything together, but I've no clue about how to do > that... > Can anyone help me? > > 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. From reed at mobilerobots.com Fri May 21 09:53:42 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 21 May 2010 09:53:42 -0400 Subject: [Aria-users] Robot is losting itself In-Reply-To: References: Message-ID: <4BF69066.4020500@mobilerobots.com> You should use setRobotPose() actually. This will set up some internal stuff then call forceUpdatePose() (I'll try to make the docs a bit clearer here.) ArRobot doesn't have any pointer to the localization task (the libraries are related in the other direction), so your class will need to hold a pointer to it. (Or you can use an ArFunctor as an intermediary if you want a level of indirection to separate them a bit.) Reed Bruno Maeda wrote: > I thing I may need to use > "ArSonarLocalizationTask::forceUpdatePose(ArPose forcePose )" to reset > the localization pose too, but I just have the robot pointer object on > my CMLModel class. Is there a way to obtain my ArSonarLocalizationTask > object by the robot object? > > thanks > toshy maeda > > On Thu, May 20, 2010 at 5:28 PM, Bruno Maeda > wrote: > > I'm simulating some episodes here, and at the end of each episode, > I'm reseting the initial pose of the robot to start all over again. > Here is the call: > > // doResetModel > void CMLModel::doResetModel() > { > // Reset internal state variables > this->x = 14.5; > this->y = -14.5; > this->theta = 90.0; > ArPose *initialPose = new ArPose(this->x * 1000, this->y * 1000, > this->theta); > robot->lock(); > robot->moveTo(*initialPose); // Localize robot at home. > robot->com(ArCommands::SIM_RESET); // reset the simulator to its > start position > robot->unlock(); > > this->stall = false; > this->goal = false; > } > > The problem is that I'm seeing the robot get lost after the first > episode (the first episode runs okay), so I don't know if i'm > missing something. Can anyone help me? > > Oh yeah, I'm using the moveTo() method 'cause I coudn't make the > robot get localized with localizeRobotAtHomeBlocking... the robot > just kept on thinking it was on (0, 0, 0)... > > 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. From toshy.maeda at gmail.com Fri May 21 09:56:56 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Fri, 21 May 2010 10:56:56 -0300 Subject: [Aria-users] Choosing robot actions In-Reply-To: <4BF68F31.2020706@mobilerobots.com> References: <4BF68F31.2020706@mobilerobots.com> Message-ID: Sorry, I think I've already kind of resolved this problem. Now I'm using Motion Command functions and it seems It suits good for my purpose. But thanks for the tip, Reed. Maybe this can help me too. Thanks toshy maeda On Fri, May 21, 2010 at 10:48 AM, Reed Hedges wrote: > > Hi, > > Are you using ArActions? (Or direct motion commands?) > > > If you are using ArActions, you can enable and disable them at any time. > Actions > can also be grouped using ArActionGroup, and all the actions in a group can > be > disabled and disabled. ArNetworking and the demo example program do this > in > their implementation of Modes -- each mode (ArServerMode for example) has > an > action group it enables when the mode is set and disables when changed. > > > Reed > > > > Bruno Maeda wrote: > > Hi, Aria users, > > > > I'm trying to use Reinforcement Learning on my robot, and I need to, at > > each step, "tell" the robot which action to do, based on what my action > > policy has decided. But I really don't know how can I implement > > something like that using the Aria lib. The AI framework is already > > done, so I can choose the actions based on the state of the agent, now > > I'm trying to put everything together, but I've no clue about how to do > > that... > > Can anyone help me? > > > > 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. > > _______________________________________________ > 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/20100521/4065bced/attachment.html From toshy.maeda at gmail.com Fri May 21 10:33:28 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Fri, 21 May 2010 11:33:28 -0300 Subject: [Aria-users] Robot is losting itself In-Reply-To: <4BF69066.4020500@mobilerobots.com> References: <4BF69066.4020500@mobilerobots.com> Message-ID: Thanks, Reed. I changed to ArSonarLocalizationTask::setRobotPose(), and it seems to be positioning a little better, but still is getting lost. Shouldn't the robot, in this case, be localized with precision, once i'm telling him where he is? thanks toshy maeda On Fri, May 21, 2010 at 10:53 AM, Reed Hedges wrote: > > > You should use setRobotPose() actually. This will set up some internal > stuff > then call forceUpdatePose() (I'll try to make the docs a bit clearer here.) > > ArRobot doesn't have any pointer to the localization task (the libraries > are > related in the other direction), so your class will need to hold a pointer > to > it. (Or you can use an ArFunctor as an intermediary if you want a level of > indirection to separate them a bit.) > > Reed > > > Bruno Maeda wrote: > > I thing I may need to use > > "ArSonarLocalizationTask::forceUpdatePose(ArPose forcePose )" to reset > > the localization pose too, but I just have the robot pointer object on > > my CMLModel class. Is there a way to obtain my ArSonarLocalizationTask > > object by the robot object? > > > > thanks > > toshy maeda > > > > On Thu, May 20, 2010 at 5:28 PM, Bruno Maeda > > wrote: > > > > I'm simulating some episodes here, and at the end of each episode, > > I'm reseting the initial pose of the robot to start all over again. > > Here is the call: > > > > // doResetModel > > void CMLModel::doResetModel() > > { > > // Reset internal state variables > > this->x = 14.5; > > this->y = -14.5; > > this->theta = 90.0; > > ArPose *initialPose = new ArPose(this->x * 1000, this->y * 1000, > > this->theta); > > robot->lock(); > > robot->moveTo(*initialPose); // Localize robot at home. > > robot->com(ArCommands::SIM_RESET); // reset the simulator to its > > start position > > robot->unlock(); > > > > this->stall = false; > > this->goal = false; > > } > > > > The problem is that I'm seeing the robot get lost after the first > > episode (the first episode runs okay), so I don't know if i'm > > missing something. Can anyone help me? > > > > Oh yeah, I'm using the moveTo() method 'cause I coudn't make the > > robot get localized with localizeRobotAtHomeBlocking... the robot > > just kept on thinking it was on (0, 0, 0)... > > > > 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. > > _______________________________________________ > 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/20100521/4d6dd4a3/attachment.html From toshy.maeda at gmail.com Fri May 21 11:10:21 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Fri, 21 May 2010 12:10:21 -0300 Subject: [Aria-users] Robot is losting itself In-Reply-To: References: <4BF69066.4020500@mobilerobots.com> Message-ID: here is my implementation: // doResetModel void CMLModel::doResetModel() { // Reset internal state variables this->x = 14.5; this->y = -14.5; this->theta = 90.0; ArPose *initialPose = new ArPose(this->x * 1000, this->y * 1000, this->theta); robot->lock(); robot->com(ArCommands::SIM_RESET); // reset the simulator to its start position robot->moveTo(*initialPose); // Initialize robot at home position robot->unlock(); locManager->lock(); locManager->setRobotPose(*initialPose); // Localize robot at home position. locManager->unlock(); this->stall = false; this->goal = false; } but like i said, it still doesn't work... is there something wrong? thanks toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/f26eea76/attachment-0001.html From H.Miri at 2007.hull.ac.uk Fri May 21 13:02:41 2010 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Fri, 21 May 2010 18:02:41 +0100 Subject: [Aria-users] Choosing robot actions References: <4BF68F31.2020706@mobilerobots.com> Message-ID: <445800D8FD5D3D43878FD7D2842A3047D3D5C2@EXCL2VS2.adir.hull.ac.uk> Reed, How could I enable/disable individual actions then if I didn't want to use ArActionGroup? Currently, I have a simple group of actions with assigned priorities: ArActionStallRecover recoverAct; ArActionAvoidFront avoidFrontNearAct( "Avoid Front Near", 200, 0 ); ArActionAvoidFront avoidFrontFarAct; ArActionConstantVelocity constantVelocityAct( "Constant Velocity", 200 ); UserTask talk( &robot ); robot.addAction( &recoverAct, 90 ); robot.addAction( &avoidFrontNearAct, 50 ); robot.addAction( &avoidFrontFarAct, 30 ); robot.addAction( &constantVelocityAct, 20 ); How do I implement "behaviors" so that, for instance, a peaceful behavior has all the above (basically wandering around) and an aggressive behavior hits things? I know this sounds strange, but I actually have a predator-prey scenario that I would like to implement using MobileSim and a virtual P3DX! Thanks, -----Original Message----- Hi, Are you using ArActions? (Or direct motion commands?) If you are using ArActions, you can enable and disable them at any time. Actions can also be grouped using ArActionGroup, and all the actions in a group can be disabled and disabled. ArNetworking and the demo example program do this in their implementation of Modes -- each mode (ArServerMode for example) has an action group it enables when the mode is set and disables when changed. Reed > Hi, Aria users, > > I'm trying to use Reinforcement Learning on my robot, and I need to, at > each step, "tell" the robot which action to do, based on what my action > policy has decided. But I really don't know how can I implement > something like that using the Aria lib. The AI framework is already > done, so I can choose the actions based on the state of the agent, now > I'm trying to put everything together, but I've no clue about how to do > that... > Can anyone help me? > > thanks. > toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/9b53e722/attachment.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: not available Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/9b53e722/attachment.ksh From oussema.benneji.am at hotmail.fr Fri May 21 16:24:59 2010 From: oussema.benneji.am at hotmail.fr (Oussema Benneji) Date: Fri, 21 May 2010 21:24:59 +0100 Subject: [Aria-users] (no subject) Message-ID: Hi I'm doing a program for the Pioneer 3AT robot withch so it can follow a white line. I realize the program line detection and its orientation with OPENCV now how do I program which enables the robot to walk and correct its position that the angle returned by the program image can anyone help me please?? _________________________________________________________________ Hotmail : une messagerie performante et gratuite avec une s?curit? sign?e Microsoft https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100521/559a9abc/attachment.html From pioneer3at at hotmail.com Sat May 22 05:16:50 2010 From: pioneer3at at hotmail.com (pioneer3at robot) Date: Sat, 22 May 2010 09:16:50 +0000 Subject: [Aria-users] =?windows-1256?q?gotoAcionExample_problem=FE?= Message-ID: When i try to compile gotoActionExample appear this message (look at the image that i have attach): _________________________________________________________________ Your E-mail and More On-the-Go. Get Windows Live Hotmail Free. https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/a768e3bb/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: error gotoActionExample.PNG Type: image/png Size: 71757 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/a768e3bb/attachment-0001.png From pioneer3at at hotmail.com Sat May 22 05:17:43 2010 From: pioneer3at at hotmail.com (pioneer3at robot) Date: Sat, 22 May 2010 09:17:43 +0000 Subject: [Aria-users] =?windows-1256?q?MobileSim_Problem=FE?= Message-ID: I have a problem with MobileSim. I run MobileSim and then i try to run guiServer but i can't. It appears this message in MobileSim (look at the image that i have attach) : _________________________________________________________________ Your E-mail and More On-the-Go. Get Windows Live Hotmail Free. https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/1fbd9106/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: error gotoActionExample.PNG Type: image/png Size: 71757 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/1fbd9106/attachment-0001.png From toshy.maeda at gmail.com Sat May 22 10:24:21 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Sat, 22 May 2010 11:24:21 -0300 Subject: [Aria-users] Robot is losting itself In-Reply-To: References: <4BF69066.4020500@mobilerobots.com> Message-ID: The thing is that, after I run my robot arround for a while, I need to restart the robot to his initial position. Initially, the robot start fine, and his localization is precise. But after I restart him to his start position again (using the method doResetModel() I shown before), the robot get losting himself... So, is there anything else I should do, besides the things I'm already doing on my method, so that I can fix this? Afterall, this shouldn't be a problem, so I think I'm doing something wrong. thanks toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/6107e179/attachment.html From toshy.maeda at gmail.com Sat May 22 16:23:26 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Sat, 22 May 2010 17:23:26 -0300 Subject: [Aria-users] Robot is losting itself In-Reply-To: References: <4BF69066.4020500@mobilerobots.com> Message-ID: I think I've solved the problem. I'd forgotten to put a sleep time after I restar the simulator, so It seems the program hadn't time to process the command. I've put ArUtil::sleep() now, and the localization seems to have stopped getting lost when I try repositioning the robot. Thanks. toshy maeda On Sat, May 22, 2010 at 11:24 AM, Bruno Maeda wrote: > The thing is that, after I run my robot arround for a while, I need to > restart the robot to his initial position. > Initially, the robot start fine, and his localization is precise. > But after I restart him to his start position again (using the method > doResetModel() I shown before), the robot get losting himself... > > So, is there anything else I should do, besides the things I'm already > doing on my method, so that I can fix this? Afterall, this shouldn't be a > problem, so I think I'm doing something wrong. > > thanks > toshy maeda > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100522/293a5c51/attachment.html From matthew_stiffler at yahoo.com Sun May 23 03:30:37 2010 From: matthew_stiffler at yahoo.com (Matthew Stiffler) Date: Sun, 23 May 2010 00:30:37 -0700 (PDT) Subject: [Aria-users] SLAM pioneer p3dx Message-ID: <670923.63101.qm@web37004.mail.mud.yahoo.com> could anyone provide me a slam algorithm for pioneer p3dx please ? I would be very reconnaissant -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100523/f8c1e51e/attachment.html From zhossain.kuet at yahoo.com Sun May 23 19:30:15 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Sun, 23 May 2010 16:30:15 -0700 (PDT) Subject: [Aria-users] can't receive image/video Message-ID: <861075.33140.qm@web46407.mail.sp1.yahoo.com> Hi help me to get image from camera(cannon vc-c50i) mounted on robot(P3-AT). too much urgent. I was running savServer() from onboard pc and then getVideoExample from laptop(linux-suse-9.3)........getting this ........... ArClientBase::addHandler: There is no data by the name "getPictureCam1" to handle Finding command for "getPictureCam1" but no data with that name exists Finding command for "getPictureCam1" but no data with that name exists Finding command for "getPictureCam1" but no data with that name exists getCommand is 0 when it probably shouldn't be ........... whereas savServer saying like this........ ........... Client Connected from 192.168.0.11 ArServeClient got request for command 0 which doesn't exist ArServeClient got request for command 0 which doesn't exist ArServeClient got request for command 0 which doesn't exist ........... if i run savClient then says...... ......... Setting video size to large. ArFXApp: openDisplay: unable to open display : 0.0 thanks in advance hOSSAIN -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100523/f1d354b7/attachment.html From reed at mobilerobots.com Mon May 24 08:22:20 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 24 May 2010 08:22:20 -0400 Subject: [Aria-users] can't receive image/video In-Reply-To: <861075.33140.qm@web46407.mail.sp1.yahoo.com> References: <861075.33140.qm@web46407.mail.sp1.yahoo.com> Message-ID: <4BFA6F7C.2070408@mobilerobots.com> Hello, What version of ARIA are you using? If you are using an older version (before 2.7) then getVideoExample is not checking whether it can use getPictureCam1, or should instead use sendVideo which is what savServer provides. getVideoExample.cpp should have code like this to use the right request: if(client.dataExists("getPictureCam1")) { ArLog::log(ArLog::Normal, "Requesting images using \"getPictureCam1\" request."); client.addHandler("getPictureCam1", &jpegHandlerCB); if (rate != 0 && rateAsTime != 0) client.request("getPictureCam1", rateAsTime); else client.requestOnce("getPictureCam1"); } else if(client.dataExists("sendVideo")) { ArLog::log(ArLog::Normal, "Server does not have \"getPictureCam1\" request, requesting images using old \"sendVideo\" request."); client.addHandler("sendVideo", &jpegHandlerCB); if (rate != 0 && rateAsTime != 0) client.request("sendVideo", rate); else client.requestOnce("sendVideo"); } else { ArLog::log(ArLog::Terse, "Error: Server does not have \"getPictureCam1\" or \"sendVideo\" request, cannot request images."); Aria::exit(2); } If not, you can replace the part of getVideoExample.cpp that adds the handler for getPictureCam1 and makes the request with the above code that checks for the right data request name. Md. Zulfikar Hossain wrote: > Hi > > help me to get image from camera(cannon vc-c50i) mounted on > robot(P3-AT). too much urgent. > > I was running savServer() from onboard pc and then getVideoExample from > laptop(linux-suse-9.3)........getting this > > ........... > ArClientBase::addHandler: There is no data by the name "getPictureCam1" > to handle > Finding command for "getPictureCam1" but no data with that name exists > Finding command for "getPictureCam1" but no data with that name exists > Finding command for "getPictureCam1" but no data with that name exists > getCommand is 0 when it probably shouldn't be > > ........... > > whereas savServer saying like this........ > > ........... > > Client Connected from 192.168.0.11 > ArServeClient got request for command 0 which doesn't exist > ArServeClient got request for command 0 which doesn't exist > ArServeClient got request for command 0 which doesn't exist > ........... > > if i run savClient then says...... > ......... > Setting video size to large. > ArFXApp: openDisplay: unable to open display : 0.0 > > thanks in advance > hOSSAIN > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 zhossain.kuet at yahoo.com Mon May 24 23:08:23 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Mon, 24 May 2010 20:08:23 -0700 (PDT) Subject: [Aria-users] can't receive image/video In-Reply-To: <4BFA6F7C.2070408@mobilerobots.com> References: <861075.33140.qm@web46407.mail.sp1.yahoo.com> <4BFA6F7C.2070408@mobilerobots.com> Message-ID: <60817.47409.qm@web46411.mail.sp1.yahoo.com> Hi Reed, Thank you so much. I am using Aria version 2.7.2 whatever I replaced that portion as you said and i think i am near to end but getting like this.......... please help........ hossain at hossain:~/albot2/src$ ./getVideoExample -host 192.168.0.250 -port 7070 -rate 20 -counter ArLog::init: File(getVideoLog.txt) Normal Logging Time Also printing Wed May 26 14:55:52 ArClientBase: Client now connected to server. Wed May 26 14:55:52 ArClientBase: Server connected to us on udp port 7070 Wed May 26 14:55:52 Server does not have "getPictureCam1"request, requesting images using old "sendVideo" request. Wed May 26 14:55:52 Deleted 1 packets of 14 bytes *** glibc detected *** ./getVideoExample: free(): invalid pointer: 0x0890af00 *** ======= Backtrace: ========= /lib/tls/i686/cmov/libc.so.6(+0x6b591)[0x1014591] /lib/tls/i686/cmov/libc.so.6(+0x6cde8)[0x1015de8] /lib/tls/i686/cmov/libc.so.6(cfree+0x6d)[0x1018ecd] /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xaa5741] /usr/lib/libstdc++.so.6(_ZNSs4_Rep10_M_destroyERKSaIcE+0x1d)[0xa81c2d] /usr/lib/libstdc++.so.6(_ZNSsD1Ev+0x4c)[0xa835dc] /usr/local/Aria/lib/libArNetworking.so(_ZN12ArClientBaseD1Ev+0x22b)[0x5b244b] ./getVideoExample[0x8049fe7] /lib/tls/i686/cmov/libc.so.6(__libc_start_main+0xe6)[0xfbfbd6] ./getVideoExample[0x80497c1] ======= Memory map: ======== 00110000-001fd000 r-xp 00000000 08:09 825854 /usr/local/opencv/lib/libcvaux.so.4.0.0 001fd000-001ff000 r--p 000ec000 08:09 825854 /usr/local/opencv/lib/libcvaux.so.4.0.0 001ff000-00201000 rw-p 000ee000 08:09 825854 /usr/local/opencv/lib/libcvaux.so.4.0.0 00201000-00237000 r-xp 00000000 08:09 825862 /usr/local/opencv/lib/libhighgui.so.4.0.0 00237000-00238000 r--p 00036000 08:09 825862 /usr/local/opencv/lib/libhighgui.so.4.0.0 00238000-00239000 rw-p 00037000 08:09 825862 /usr/local/opencv/lib/libhighgui.so.4.0.0 00239000-0023a000 rw-p 00000000 00:00 0 0023d000-004a6000 r-xp 00000000 08:09 825846 /usr/local/opencv/lib/libcxcore.so.4.0.0 004a6000-004a8000 r--p 00268000 08:09 825846 /usr/local/opencv/lib/libcxcore.so.4.0.0 004a8000-004ad000 rw-p 0026a000 08:09 825846 /usr/local/opencv/lib/libcxcore.so.4.0.0 004ad000-004ae000 rw-p 00000000 00:00 0 004ae000-004c3000 r-xp 00000000 08:06 65681 /lib/tls/i686/cmov/libpthread-2.11.1.so 004c3000-004c4000 r--p 00014000 08:06 65681 /lib/tls/i686/cmov/libpthread-2.11.1.so 004c4000-004c5000 rw-p 00015000 08:06 65681 /lib/tls/i686/cmov/libpthread-2.11.1.so 004c5000-004c7000 rw-p 00000000 00:00 0 004c7000-004ce000 r-xp 00000000 08:06 65685 /lib/tls/i686/cmov/librt-2.11.1.so 004ce000-004cf000 r--p 00006000 08:06 65685 /lib/tls/i686/cmov/librt-2.11.1.so 004cf000-004d0000 rw-p 00007000 08:06 65685 /lib/tls/i686/cmov/librt-2.11.1.so 004d0000-004e3000 r-xp 00000000 08:06 40918 /lib/libz.so.1.2.3.3 004e3000-004e4000 r--p 00012000 08:06 40918 /lib/libz.so.1.2.3.3 004e4000-004e5000 rw-p 00013000 08:06 40918 /lib/libz.so.1.2.3.3 004e6000-004e8000 r-xp 00000000 08:06 65661 /lib/tls/i686/cmov/libdl-2.11.1.so 004e8000-004e9000 r--p 00001000 08:06 65661 /lib/tls/i686/cmov/libdl-2.11.1.so 004e9000-004ea000 rw-p 00002000 08:06 65661 /lib/tls/i686/cmov/libdl-2.11.1.so 004ea000-00659000 r-xp 00000000 08:09 818952 /usr/local/Aria/lib/libArNetworking.so 00659000-0065a000 ---p 0016f000 08:09 818952 /usr/local/Aria/lib/libArNetworking.so 0065a000-0065e000 r--p 0016f000 08:09 818952 /usr/local/Aria/lib/libArNetworking.so 0065e000-00663000 rw-p 00173000 08:09 818952 /usr/local/Aria/lib/libArNetworking.so 00663000-00680000 r-xp 00000000 08:06 40803 /lib/libgcc_s.so.1 00680000-00681000 r--p 0001c000 08:06 40803 /lib/libgcc_s.so.1 00681000-00682000 rw-p 0001d000 08:06 40803 /lib/libgcc_s.so.1 00682000-0068e000 r-xp 00000000 08:09 605695 /usr/lib/libgomp.so.1.0.0 0068e000-0068f000 r--p 0000b000 08:09 605695 /usr/lib/libgomp.so.1.0.0 0068f000-00690000 rw-p 0000c000 08:09 605695 /usr/lib/libgomp.so.1.0.0 00690000-006a9000 r-xp 00000000 08:09 605372 /usr/lib/libatk-1.0.so.0.3009.1 006a9000-006aa000 ---p 00019000 08:09 605372 /usr/lib/libatk-1.0.so.0.3009.1 006aa000-006ab000 r--p 00019000 08:09 605372 /usr/lib/libatk-1.0.so.0.3009.1 006ab000-006ac000 rw-p 0001a000 08:09 605372 /usr/lib/libatk-1.0.so.0.3009.1 006ac000-006b6000 r-xp 00000000 08:09 606029 /usr/lib/libpangocairo-1.0.so.0.2800.0 006b6000-006b7000 r--p 00009000 08:09 606029 /usr/lib/libpangocairo-1.0.so.0.2800.0 006b7000-006b8000 rw-p 0000a000 08:09 606029 /usr/lib/libpangocairo-1.0.so.0.2800.0 006b8000-006bb000 r-xp 00000000 08:09 605356 /usr/lib/libgmodule-2.0.so.0.2400.1 006bb000-006bc000 r--p 00002000 08:09 605356 /usr/lib/libgmodule-2.0.so.0.2400.1 006bc000-006bd000 rw-p 00003000 08:09 605356 /usr/lib/libgmodule-2.0.so.0.2400.1 006bd000-006bf000 r-xp 00000000 08:09 605291 /usr/lib/libXcomposite.so.1.0.0 006bf000-006c0000 r--p 00001000 08:09 605291 /usr/lib/libXcomposite.so.1.0.0 006c0000-006c1000 rw-p 00002000 08:09 605291 /usr/lib/libXcomposite.so.1.0.0 006c2000-006c3000 r-xp 00000000 00:00 0 [vdso] 006c3000-00978000 r-xp 00000000 08:09 818951 /usr/local/Aria/lib/libAria.so 00978000-00989000 rw-p 002b5000 08:09 818951 /usr/local/Aria/lib/libAria.so 00989000-009ae000 r-xp 00000000 08:09 606031 /usr/lib/libpangoft2-1.0.so.0.2800.0 009ae000-009af000 r--p 00024000 08:09 606031 /usr/lib/libpangoft2-1.0.so.0.2800.0 009af000-009b0000 rw-p 00025000 08:09 606031 /usr/lib/libpangoft2-1.0.so.0.2800.0 009b0000-009de000 r-xp 00000000 08:09 605578 /usr/lib/libfontconfig.so.1.4.4 009de000-009df000 r--p 0002d000 08:09 605578 /usr/lib/libfontconfig.so.1.4.4 009df000-009e0000 rw-p 0002e000 08:09 605578 /usr/lib/libfontconfig.so.1.4.4 009e0000-009e4000 r-xp 00000000 08:09 605358 /usr/lib/libgthread-2.0.so.0.2400.1 009e4000-009e5000 r--p 00003000 08:09 605358 /usr/lib/libgthread-2.0.so.0.2400.1 009e5000-009e6000 rw-p 00004000 08:09 605358 /usr/lib/libgthread-2.0.so.0.2400.1 009e6000-009e8000 r-xp 00000000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 009e8000-009e9000 r--p 00001000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 009e9000-009ea000 rw-p 00002000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 009ea000-00ad3000 r-xp 00000000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 00ad3000-00ad4000 ---p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 00ad4000-00ad8000 r--p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 00ad8000-00ad9000 rw-p 000ed000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 00ad9000-00ae0000 rw-p 00000000 00:00 0 00ae0000-00b57000 r-xp 00000000 08:09 605419 /usr/lib/libcairo.so.2.10800.10 00b57000-00b59000 r--p 00076000 08:09 605419 /usr/lib/libcairo.so.2.10800.10 00b59000-00b5a000 rw-p 00078000 08:09 605419 /usr/lib/libcairo.so.2.10800.10 00b5a000-00b5e000 r-xp 00000000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 00b5e000-00b5f000 r--p 00003000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 00b5f000-00b60000 rw-p 00004000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 00b63000-00b7e000 r-xp 00000000 08:06 40745 /lib/ld-2.11.1.so 00b7e000-00b7f000 r--p 0001a000 08:06 40745 /lib/ld-2.11.1.so 00b7f000-00b80000 rw-p 0001b000 08:06 40745 /lib/ld-2.11.1.soAborted hossain at hossain:~/albot2/src$ ffmpeg -i video%d.jpeg -r 20 movie.mpeg FFmpeg version SVN-r0.5.1-4:0.5.1-1ubuntu1, Copyright (c) 2000-2009 Fabrice Bellard, et al. configuration: --extra-version=4:0.5.1-1ubuntu1 --prefix=/usr --enable-avfilter --enable-avfilter-lavf --enable-vdpau --enable-bzlib --enable-libgsm --enable-libschroedinger --enable-libspeex --enable-libtheora --enable-libvorbis --enable-pthreads --enable-zlib --disable-stripping --disable-vhook --enable-runtime-cpudetect --enable-gpl --enable-postproc --enable-swscale --enable-x11grab --enable-libdc1394 --enable-shared --disable-static libavutil 49.15. 0 / 49.15. 0 libavcodec 52.20. 1 / 52.20. 1 libavformat 52.31. 0 / 52.31. 0 libavdevice 52. 1. 0 / 52. 1. 0 libavfilter 0. 4. 0 / 0. 4. 0 libswscale 0. 7. 1 / 0. 7. 1 libpostproc 51. 2. 0 / 51. 2. 0 built on Mar 4 2010 12:35:30, gcc: 4.4.3 video%d.jpeg: I/O error occurred Usually that means that input file is truncated and/or corrupted. Thanks in advanceHossain ________________________________ From: Reed Hedges To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) " Sent: Tue, May 25, 2010 12:22:20 AM Subject: Re: [Aria-users] can't receive image/video Hello, What version of ARIA are you using? If you are using an older version (before 2.7) then getVideoExample is not checking whether it can use getPictureCam1, or should instead use sendVideo which is what savServer provides. getVideoExample.cpp should have code like this to use the right request: if(client.dataExists("getPictureCam1")) { ArLog::log(ArLog::Normal, "Requesting images using \"getPictureCam1\" request."); client.addHandler("getPictureCam1", &jpegHandlerCB); if (rate != 0 && rateAsTime != 0) client.request("getPictureCam1", rateAsTime); else client.requestOnce("getPictureCam1"); } else if(client.dataExists("sendVideo")) { ArLog::log(ArLog::Normal, "Server does not have \"getPictureCam1\" request, requesting images using old \"sendVideo\" request."); client.addHandler("sendVideo", &jpegHandlerCB); if (rate != 0 && rateAsTime != 0) client.request("sendVideo", rate); else client.requestOnce("sendVideo"); } else { ArLog::log(ArLog::Terse, "Error: Server does not have \"getPictureCam1\" or \"sendVideo\" request, cannot request images."); Aria::exit(2); } If not, you can replace the part of getVideoExample.cpp that adds the handler for getPictureCam1 and makes the request with the above code that checks for the right data request name. Md. Zulfikar Hossain wrote: > Hi > > help me to get image from camera(cannon vc-c50i) mounted on > robot(P3-AT). too much urgent. > > I was running savServer() from onboard pc and then getVideoExample from > laptop(linux-suse-9.3)........getting this > > ........... > ArClientBase::addHandler: There is no data by the name "getPictureCam1" > to handle > Finding command for "getPictureCam1" but no data with that name exists > Finding command for "getPictureCam1" but no data with that name exists > Finding command for "getPictureCam1" but no data with that name exists > getCommand is 0 when it probably shouldn't be > > ........... > > whereas savServer saying like this........ > > ........... > > Client Connected from 192.168.0.11 > ArServeClient got request for command 0 which doesn't exist > ArServeClient got request for command 0 which doesn't exist > ArServeClient got request for command 0 which doesn't exist > ........... > > if i run savClient then says...... > ......... > Setting video size to large. > ArFXApp: openDisplay: unable to open display : 0.0 > > thanks in advance > hOSSAIN > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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/20100524/7e3ef975/attachment-0001.html From knewitts at iis.fraunhofer.de Tue May 25 11:30:59 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Tue, 25 May 2010 17:30:59 +0200 Subject: [Aria-users] method for setting up small angles Message-ID: <4BFBED33.50806@iis.fraunhofer.de> hi, can anyone tell me, if there's a better method in Aria for setting up small angles than myDesired.setDeltaHeading() or myDesired.setRotVel(). I'm programming an Action to find RFID-tags with an RFID-reader via RS232. The idea was to drive in different directions with small angles (2?-5?) until a tag is found. I first tried myDesired.setDeltaHeading() and it seemed ok in MobilSim. But on my Pioneer 3AT the angles were much bigger than I wanted them. Then I tried myDesired.setRotVel(). This was better at first, because the angeles had the correct size, but then I recognized that they sometimes tended to the left and sometimes to the right. In MobilSim both methods were ok. Here's a part of my Code: bool myAngle = true; double myHeading[20] //This is an array with different angles e.g. -3?, //+3?, -6?, +6?,... ... if(myAngle) { heading = myHeading[n] - myRobot->getTh(); if(ArMath::fabs(heading) > myHeadingFault) { myDesired.setRotVel(heading * 2); myDesired.setVel(0); return &myDesired; } else { n++; if(n > headLength) //headLenght = the size of the array myHeading n = 0; myAngle = false; myDistance = 2; myDesired.setRotVel(0); myDesired.setVel(0); return &myDesired; } } ... // After that I go 400 mm in this direction and back (myDistance). // There I set myAngle = true; ... Or is there any possibility to reset the gyro or the heading of the robot except for robot.moveTo()? -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From reed at mobilerobots.com Wed May 26 15:36:08 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 15:36:08 -0400 Subject: [Aria-users] Short survey of Linux software tools and packages you use Message-ID: <4BFD7828.5080003@mobilerobots.com> Dear aria-users, We are interested in what kinds of development and system tools and other software you are using on your robots that are running Linux. In particular 1. Are you using the Debian 3.1 system we supplied, or did you replace it with another Linux distribution or operating system? If so, why? 2. Do you use C++, Python, Java or another programming language? 3. What build and compilation tools do you use? 4. What text editor? 5. Any source code management tools? (e.g. version control such as cvs or svn) 6. Any other tools? 7. What development libraries? If you are using python, perl, etc. any additional modules? 9. Any special kernel drivers? 10. If you are using the Debian system we provided, are there any packages that you installed in addition to the default set provided with the robot? Thank you for any information you have. This will help us improve our Linux configuration and support. Reed From reed at mobilerobots.com Wed May 26 15:37:52 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 15:37:52 -0400 Subject: [Aria-users] =?utf-8?q?gotoAcionExample_problem=E2=80=8F?= In-Reply-To: References: Message-ID: <4BFD7890.8030107@mobilerobots.com> Hello, when you built gotoActionExample what compiler did you use? (Run gcc --version). If it's not 3.4 (e.g. 4.x) did you also recompile ARIA? (Run "make" in the Aria directory). Can you send all of the error messages? (Cut and paste)? Thanks pioneer3at robot wrote: > When i try to compile gotoActionExample appear this message (look at the > image that i have attach): > ------------------------------------------------------------------------ > Your E-mail and More On-the-Go. Get Windows Live Hotmail Free. Sign up > now. > ------------------------------------------------------------------------ > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 May 26 15:38:27 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 15:38:27 -0400 Subject: [Aria-users] =?utf-8?q?MobileSim_Problem=E2=80=8F?= In-Reply-To: References: Message-ID: <4BFD78B3.5080704@mobilerobots.com> pioneer3at robot wrote: > I have a problem with MobileSim. I run MobileSim and then i try to run > guiServer but i can't. > It appears this message in MobileSim (look at the image that i have > attach) : The image attached is gotoActionExample. Were there errors in MobileSim from running guiServer? Send the output of both MobileSim and guiServer Thanks Reed From reed at mobilerobots.com Wed May 26 15:43:24 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 15:43:24 -0400 Subject: [Aria-users] can't receive image/video In-Reply-To: <60817.47409.qm@web46411.mail.sp1.yahoo.com> References: <861075.33140.qm@web46407.mail.sp1.yahoo.com> <4BFA6F7C.2070408@mobilerobots.com> <60817.47409.qm@web46411.mail.sp1.yahoo.com> Message-ID: <4BFD79DC.5070905@mobilerobots.com> So getVideoExample was able to save the images? And it crashed on exit? If it was able to save images, how long did you run it for and how many images did it save? I don't know why ffmpeg failed, you can look at the jpeg images (e.g. in an image viewer) and see if any of them look corrupted. Reed Md. Zulfikar Hossain wrote: > Hi Reed, > Thank you so much. I am using Aria version 2.7.2 whatever I replaced > that portion as you said and i think i am near to end but getting like > this.......... please help........ > > hossain at hossain:~/albot2/src$ ./getVideoExample -host 192.168.0.250 > -port 7070 -rate 20 -counter > > > ArLog::init: File(getVideoLog.txt) Normal Logging Time Also printing > > Wed May 26 14:55:52 ArClientBase: Client now connected to server. > > Wed May 26 14:55:52 ArClientBase: Server connected to us on udp port 7070 > > Wed May 26 14:55:52 Server does not have "getPictureCam1"request, > requesting images using old "sendVideo" request. > > Wed May 26 14:55:52 Deleted 1 packets of 14 bytes > > *** glibc detected *** ./getVideoExample: free(): invalid pointer: > 0x0890af00 *** > > ======= Backtrace: ========= > > /lib/tls/i686/cmov/libc.so.6(+0x6b591)[0x1014591] > > /lib/tls/i686/cmov/libc.so.6(+0x6cde8)[0x1015de8] > > /lib/tls/i686/cmov/libc.so.6(cfree+0x6d)[0x1018ecd] > > /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xaa5741] > > /usr/lib/libstdc++.so.6(_ZNSs4_Rep10_M_destroyERKSaIcE+0x1d)[0xa81c2d] > > /usr/lib/libstdc++.so.6(_ZNSsD1Ev+0x4c)[0xa835dc] > > /usr/local/Aria/lib/libArNetworking.so(_ZN12ArClientBaseD1Ev+0x22b)[0x5b244b] > > > ./getVideoExample[0x8049fe7] > > /lib/tls/i686/cmov/libc.so.6(__libc_start_main+0xe6)[0xfbfbd6] > > ./getVideoExample[0x80497c1] > > ======= Memory map: ======== > > 00110000-001fd000 r-xp 00000000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 001fd000-001ff000 r--p 000ec000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 001ff000-00201000 rw-p 000ee000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 00201000-00237000 r-xp 00000000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00237000-00238000 r--p 00036000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00238000-00239000 rw-p 00037000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00239000-0023a000 rw-p 00000000 00:00 0 > > 0023d000-004a6000 r-xp 00000000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004a6000-004a8000 r--p 00268000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004a8000-004ad000 rw-p 0026a000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004ad000-004ae000 rw-p 00000000 00:00 0 > > 004ae000-004c3000 r-xp 00000000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c3000-004c4000 r--p 00014000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c4000-004c5000 rw-p 00015000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c5000-004c7000 rw-p 00000000 00:00 0 > > 004c7000-004ce000 r-xp 00000000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004ce000-004cf000 r--p 00006000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004cf000-004d0000 rw-p 00007000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004d0000-004e3000 r-xp 00000000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e3000-004e4000 r--p 00012000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e4000-004e5000 rw-p 00013000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e6000-004e8000 r-xp 00000000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004e8000-004e9000 r--p 00001000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004e9000-004ea000 rw-p 00002000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004ea000-00659000 r-xp 00000000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 00659000-0065a000 ---p 0016f000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 0065a000-0065e000 r--p 0016f000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 0065e000-00663000 rw-p 00173000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 00663000-00680000 r-xp 00000000 08:06 40803 /lib/libgcc_s.so.1 > > 00680000-00681000 r--p 0001c000 08:06 40803 /lib/libgcc_s.so.1 > > 00681000-00682000 rw-p 0001d000 08:06 40803 /lib/libgcc_s.so.1 > > 00682000-0068e000 r-xp 00000000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 0068e000-0068f000 r--p 0000b000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 0068f000-00690000 rw-p 0000c000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 00690000-006a9000 r-xp 00000000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006a9000-006aa000 ---p 00019000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006aa000-006ab000 r--p 00019000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006ab000-006ac000 rw-p 0001a000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006ac000-006b6000 r-xp 00000000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b6000-006b7000 r--p 00009000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b7000-006b8000 rw-p 0000a000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b8000-006bb000 r-xp 00000000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bb000-006bc000 r--p 00002000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bc000-006bd000 rw-p 00003000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bd000-006bf000 r-xp 00000000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006bf000-006c0000 r--p 00001000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006c0000-006c1000 rw-p 00002000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006c2000-006c3000 r-xp 00000000 00:00 0 [vdso] > > 006c3000-00978000 r-xp 00000000 08:09 818951 /usr/local/Aria/lib/libAria.so > > 00978000-00989000 rw-p 002b5000 08:09 818951 /usr/local/Aria/lib/libAria.so > > 00989000-009ae000 r-xp 00000000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009ae000-009af000 r--p 00024000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009af000-009b0000 rw-p 00025000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009b0000-009de000 r-xp 00000000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009de000-009df000 r--p 0002d000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009df000-009e0000 rw-p 0002e000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009e0000-009e4000 r-xp 00000000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e4000-009e5000 r--p 00003000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e5000-009e6000 rw-p 00004000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e6000-009e8000 r-xp 00000000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009e8000-009e9000 r--p 00001000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009e9000-009ea000 rw-p 00002000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009ea000-00ad3000 r-xp 00000000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad3000-00ad4000 ---p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad4000-00ad8000 r--p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad8000-00ad9000 rw-p 000ed000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad9000-00ae0000 rw-p 00000000 00:00 0 > > 00ae0000-00b57000 r-xp 00000000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b57000-00b59000 r--p 00076000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b59000-00b5a000 rw-p 00078000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b5a000-00b5e000 r-xp 00000000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b5e000-00b5f000 r--p 00003000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b5f000-00b60000 rw-p 00004000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b63000-00b7e000 r-xp 00000000 08:06 40745 /lib/ld-2.11.1.so > > 00b7e000-00b7f000 r--p 0001a000 08:06 40745 /lib/ld-2.11.1.so > > 00b7f000-00b80000 rw-p 0001b000 08:06 40745 /lib/ld-2.11.1.soAborted > > > hossain at hossain:~/albot2/src$ ffmpeg -i video%d.jpeg -r 20 movie.mpeg > > > FFmpeg version SVN-r0.5.1-4:0.5.1-1ubuntu1, Copyright (c) 2000-2009 > Fabrice Bellard, et al. > > configuration: --extra-version=4:0.5.1-1ubuntu1 --prefix=/usr > --enable-avfilter --enable-avfilter-lavf --enable-vdpau --enable-bzlib > --enable-libgsm --enable-libschroedinger --enable-libspeex > --enable-libtheora --enable-libvorbis --enable-pthreads --enable-zlib > --disable-stripping --disable-vhook --enable-runtime-cpudetect > --enable-gpl --enable-postproc --enable-swscale --enable-x11grab > --enable-libdc1394 --enable-shared --disable-static > > libavutil 49.15. 0 / 49.15. 0 > > libavcodec 52.20. 1 / 52.20. 1 > > libavformat 52.31. 0 / 52.31. 0 > > libavdevice 52. 1. 0 / 52. 1. 0 > > libavfilter 0. 4. 0 / 0. 4. 0 > > libswscale 0. 7. 1 / 0. 7. 1 > > libpostproc 51. 2. 0 / 51. 2. 0 > > built on Mar 4 2010 12:35:30, gcc: 4.4.3 > > video%d.jpeg: I/O error occurred > > Usually that means that input file is truncated and/or corrupted. > > > > Thanks in advance > > Hossain > > > ------------------------------------------------------------------------ > *From:* Reed Hedges > *To:* "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > *Sent:* Tue, May 25, 2010 12:22:20 AM > *Subject:* Re: [Aria-users] can't receive image/video > > > Hello, > > What version of ARIA are you using? If you are using an older version > (before > 2.7) then getVideoExample is not checking whether it can use > getPictureCam1, or > should instead use sendVideo which is what savServer provides. > > getVideoExample.cpp should have code like this to use the right request: > > if(client.dataExists("getPictureCam1")) > { > ArLog::log(ArLog::Normal, "Requesting images using \"getPictureCam1\" > request."); > client.addHandler("getPictureCam1", &jpegHandlerCB); > if (rate != 0 && rateAsTime != 0) > client.request("getPictureCam1", rateAsTime); > else > client.requestOnce("getPictureCam1"); > } > else if(client.dataExists("sendVideo")) > { > ArLog::log(ArLog::Normal, "Server does not have \"getPictureCam1\" > request, requesting images using old \"sendVideo\" request."); > client.addHandler("sendVideo", &jpegHandlerCB); > if (rate != 0 && rateAsTime != 0) > client.request("sendVideo", rate); > else > client.requestOnce("sendVideo"); > } > else > { > ArLog::log(ArLog::Terse, "Error: Server does not have > \"getPictureCam1\" > or \"sendVideo\" request, cannot request images."); > Aria::exit(2); > } > > > If not, you can replace the part of getVideoExample.cpp that adds the > handler > for getPictureCam1 and makes the request with the above code that checks > for the > right data request name. > > > > Md. Zulfikar Hossain wrote: > > Hi > > > > help me to get image from camera(cannon vc-c50i) mounted on > > robot(P3-AT). too much urgent. > > > > I was running savServer() from onboard pc and then getVideoExample from > > laptop(linux-suse-9.3)........getting this > > > > ........... > > ArClientBase::addHandler: There is no data by the name "getPictureCam1" > > to handle > > Finding command for "getPictureCam1" but no data with that name exists > > Finding command for "getPictureCam1" but no data with that name exists > > Finding command for "getPictureCam1" but no data with that name exists > > getCommand is 0 when it probably shouldn't be > > > > ........... > > > > whereas savServer saying like this........ > > > > ........... > > > > Client Connected from 192.168.0.11 > > ArServeClient got request for command 0 which doesn't exist > > ArServeClient got request for command 0 which doesn't exist > > ArServeClient got request for command 0 which doesn't exist > > ........... > > > > if i run savClient then says...... > > ......... > > Setting video size to large. > > ArFXApp: openDisplay: unable to open display : 0.0 > > > > thanks in advance > > hOSSAIN > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > >> Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From reed at mobilerobots.com Wed May 26 16:45:01 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 16:45:01 -0400 Subject: [Aria-users] method for setting up small angles In-Reply-To: <4BFBED33.50806@iis.fraunhofer.de> References: <4BFBED33.50806@iis.fraunhofer.de> Message-ID: <4BFD884D.4070209@mobilerobots.com> Achieving small accurate headings like one or a couple degrees is very difficult with the skid steer AT. What kind of surface is it on? Are you using the standard wheels? Do you have a gyro? These will all help. What do you mean by the angle tending to the left or right with setRotVel()? With setRotVel(), a positive value is a counter-clockwise rotation and a negative value is a clockwise rotation (which may be counter intuitive). (When checking the headings, you have to take into account whether you would cross the 0/360 boundary in the comparison (e.g. if the desired heading is 350 and the robot's current heading is 10 it's shorter to go clockwise, not counter-clockwise, i.e. 350-10 > 360-350-10. You can use some of the angle functions in ArMath to do angle subtraction and normalize angles to -180,180 degrees. See ArMath.cpp for the actual calculations done.) Tobias Knewitz wrote: > hi, > > can anyone tell me, if there's a better method in Aria for setting up > small angles than myDesired.setDeltaHeading() or myDesired.setRotVel(). > I'm programming an Action to find RFID-tags with an RFID-reader via > RS232. The idea was to drive in different directions with small angles > (2?-5?) until a tag is found. > I first tried myDesired.setDeltaHeading() and it seemed ok in MobilSim. > But on my Pioneer 3AT the angles were much bigger than I wanted them. > Then I tried myDesired.setRotVel(). This was better at first, because > the angeles had the correct size, but then I recognized that they > sometimes tended to the left and sometimes to the right. In MobilSim > both methods were ok. > Here's a part of my Code: > > bool myAngle = true; > double myHeading[20] //This is an array with different angles e.g. -3?, > //+3?, -6?, +6?,... > ... > > if(myAngle) > { > heading = myHeading[n] - myRobot->getTh(); > if(ArMath::fabs(heading) > myHeadingFault) > { > myDesired.setRotVel(heading * 2); > myDesired.setVel(0); > return &myDesired; > } > else > { > n++; > if(n > headLength) //headLenght = the size of the array myHeading > n = 0; > myAngle = false; > myDistance = 2; > myDesired.setRotVel(0); > myDesired.setVel(0); > return &myDesired; > } > } > > ... > > // After that I go 400 mm in this direction and back (myDistance). > // There I set myAngle = true; > > ... > > Or is there any possibility to reset the gyro or the heading of the > robot except for robot.moveTo()? > From reed at mobilerobots.com Wed May 26 16:50:40 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Wed, 26 May 2010 16:50:40 -0400 Subject: [Aria-users] Problem with ArRobot::currentReadingPolar In-Reply-To: References: Message-ID: <4BFD89A0.7020009@mobilerobots.com> Thanks, I will look at that. I wonder if other overlapping ranges would have similar problem. Bruno Maeda wrote: > Hello, > > I was trying to get the sonar reading > using: robot->findRangeDevice("sonar")->currentReadingPolar(-180, 180), > but all I could get was max distance 5000. then I try changing the > values to [-179.0, 179.0] and it seems it works now. > I'm not sure if this is a bug, but I thought you here would like to know. > > 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. From mjohnson at ihmc.us Wed May 26 16:52:23 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Wed, 26 May 2010 15:52:23 -0500 Subject: [Aria-users] Short survey of Linux software tools and packages you use In-Reply-To: <4BFD7828.5080003@mobilerobots.com> References: <4BFD7828.5080003@mobilerobots.com> Message-ID: <00a801cafd15$576afb90$0640f2b0$@us> We use ReHat (although we are looking at updating to Ubuntu). We use Java. We use both CVS (older projects) and SVN. 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: Wednesday, May 26, 2010 2:36 PM To: Aria Users Mailing List Subject: [Aria-users] Short survey of Linux software tools and packages you use Dear aria-users, We are interested in what kinds of development and system tools and other software you are using on your robots that are running Linux. In particular 1. Are you using the Debian 3.1 system we supplied, or did you replace it with another Linux distribution or operating system? If so, why? 2. Do you use C++, Python, Java or another programming language? 3. What build and compilation tools do you use? 4. What text editor? 5. Any source code management tools? (e.g. version control such as cvs or svn) 6. Any other tools? 7. What development libraries? If you are using python, perl, etc. any additional modules? 9. Any special kernel drivers? 10. If you are using the Debian system we provided, are there any packages that you installed in addition to the default set provided with the robot? Thank you for any information you have. This will help us improve our Linux configuration and support. Reed _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From knewitts at iis.fraunhofer.de Thu May 27 03:52:45 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Thu, 27 May 2010 09:52:45 +0200 Subject: [Aria-users] method for setting up small angles In-Reply-To: <4BFD884D.4070209@mobilerobots.com> References: <4BFBED33.50806@iis.fraunhofer.de> <4BFD884D.4070209@mobilerobots.com> Message-ID: <4BFE24CD.6080104@iis.fraunhofer.de> Hi Reed, the surface is a kind of linoleum, I think the wheels are standard (they look like indoor wheels) and there's a gyro in the robot. When the robot is setting up the angles e.g. -3, +3, -6, +6, ... it sometimes looks more like -2, +6, 0, +12, 0, +18, 0 and some time later, when the robot is driven somewhere else, it looks like -3, +2, -6, 0, -12, 0 -18. Maybe I have to calibrate the the gyro or the other flash parameters to get this drifting away. But actually I did it already a few weeks ago. Here are the parameters I'm using: Driftfactor: 0 (I actually had a drift and used 25 and 60, but it seemed to influence the angles, so I set it back to 0) Ticksmm: 167 Revcount: 36535 thanks toby. Reed Hedges wrote: > Achieving small accurate headings like one or a couple degrees is very difficult > with the skid steer AT. > > What kind of surface is it on? Are you using the standard wheels? Do you have a > gyro? These will all help. > > What do you mean by the angle tending to the left or right with setRotVel()? > With setRotVel(), a positive value is a counter-clockwise rotation and a > negative value is a clockwise rotation (which may be counter intuitive). > > (When checking the headings, you have to take into account whether you would > cross the 0/360 boundary in the comparison (e.g. if the desired heading is 350 > and the robot's current heading is 10 it's shorter to go clockwise, not > counter-clockwise, i.e. 350-10 > 360-350-10. You can use some of the angle > functions in ArMath to do angle subtraction and normalize angles to -180,180 > degrees. See ArMath.cpp for the actual calculations done.) > > Tobias Knewitz wrote: >> hi, >> >> can anyone tell me, if there's a better method in Aria for setting up >> small angles than myDesired.setDeltaHeading() or myDesired.setRotVel(). >> I'm programming an Action to find RFID-tags with an RFID-reader via >> RS232. The idea was to drive in different directions with small angles >> (2?-5?) until a tag is found. >> I first tried myDesired.setDeltaHeading() and it seemed ok in MobilSim. >> But on my Pioneer 3AT the angles were much bigger than I wanted them. >> Then I tried myDesired.setRotVel(). This was better at first, because >> the angeles had the correct size, but then I recognized that they >> sometimes tended to the left and sometimes to the right. In MobilSim >> both methods were ok. >> Here's a part of my Code: >> >> bool myAngle = true; >> double myHeading[20] //This is an array with different angles e.g. -3?, >> //+3?, -6?, +6?,... >> ... >> >> if(myAngle) >> { >> heading = myHeading[n] - myRobot->getTh(); >> if(ArMath::fabs(heading) > myHeadingFault) >> { >> myDesired.setRotVel(heading * 2); >> myDesired.setVel(0); >> return &myDesired; >> } >> else >> { >> n++; >> if(n > headLength) //headLenght = the size of the array myHeading >> n = 0; >> myAngle = false; >> myDistance = 2; >> myDesired.setRotVel(0); >> myDesired.setVel(0); >> return &myDesired; >> } >> } >> >> ... >> >> // After that I go 400 mm in this direction and back (myDistance). >> // There I set myAngle = true; >> >> ... >> >> Or is there any possibility to reset the gyro or the heading of the >> robot except for robot.moveTo()? >> > > _______________________________________________ > 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. -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From knewitts at iis.fraunhofer.de Thu May 27 04:03:37 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Thu, 27 May 2010 10:03:37 +0200 Subject: [Aria-users] Short survey of Linux software tools and packages you use In-Reply-To: <4BFD7828.5080003@mobilerobots.com> References: <4BFD7828.5080003@mobilerobots.com> Message-ID: <4BFE2759.1030703@iis.fraunhofer.de> I'm using an older version of RedHat (it must be 2.7), but I thought about getting Debian on the robot. I'm programming with C++ and I use Eclipse with svn and the g++ 4.3.2 Linux standard compiler, but I do compile my sourecode on the robot again because the system is different to my workstation. Maybe a cross-toolchain would be nice. Toby Reed Hedges schrieb: > Dear aria-users, > > We are interested in what kinds of development and system tools and other > software you are using on your robots that are running Linux. > > In particular > > 1. Are you using the Debian 3.1 system we supplied, or did you replace it with > another Linux distribution or operating system? If so, why? > > 2. Do you use C++, Python, Java or another programming language? > > 3. What build and compilation tools do you use? > > 4. What text editor? > > 5. Any source code management tools? (e.g. version control such as cvs or svn) > > 6. Any other tools? > > 7. What development libraries? If you are using python, perl, etc. any > additional modules? > > 9. Any special kernel drivers? > > 10. If you are using the Debian system we provided, are there any packages that > you installed in addition to the default set provided with the robot? > > Thank you for any information you have. This will help us improve our Linux > configuration and support. > > Reed > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From knewitts at iis.fraunhofer.de Thu May 27 05:36:34 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Thu, 27 May 2010 11:36:34 +0200 Subject: [Aria-users] setting up small angles In-Reply-To: <4BFE24CD.6080104@iis.fraunhofer.de> References: <4BFBED33.50806@iis.fraunhofer.de> <4BFD884D.4070209@mobilerobots.com> <4BFE24CD.6080104@iis.fraunhofer.de> Message-ID: <4BFE3D22.30005@iis.fraunhofer.de> Hi Reed, I've activated the gyro-only-mode ( gyro.activateGyroOnly() ) and now the angles are correct. Does this mean, that the odometer-sensors are not working correct or that the flash parameters are wrong? toby -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From oussema.benneji.am at hotmail.fr Thu May 27 07:18:10 2010 From: oussema.benneji.am at hotmail.fr (Oussema Benneji) Date: Thu, 27 May 2010 12:18:10 +0100 Subject: [Aria-users] NEW ACTION In-Reply-To: References: Message-ID: hi! how to create a new action? please help me thx _________________________________________________________________ Hotmail : une messagerie fiable avec une protection anti-spam performante https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100527/654c1809/attachment.html From zhossain.kuet at yahoo.com Fri May 28 02:10:10 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Thu, 27 May 2010 23:10:10 -0700 (PDT) Subject: [Aria-users] can't receive image/video In-Reply-To: <4BFD79DC.5070905@mobilerobots.com> References: <861075.33140.qm@web46407.mail.sp1.yahoo.com> <4BFA6F7C.2070408@mobilerobots.com> <60817.47409.qm@web46411.mail.sp1.yahoo.com> <4BFD79DC.5070905@mobilerobots.com> Message-ID: <776883.95753.qm@web46404.mail.sp1.yahoo.com> Hi Reed Thank you very much for your reply. Actually there was no image stored and i figured out that my problem is for compilation because i am getting this warning ............. /usr/bin/ld: warning: libstdc++.so.5, needed by /usr/local/Aria/lib/libAria.so, may conflict with libstdc++.so.6 .................. i am using ubuntu 10.04 and Aria version is 2.7.2 but when i am using another laptop(suse linux and Aria 2.5.1) then i can save images. Now please help me how can I fix that problem, i am dying to use ubuntu. thanks in advance Hossain ________________________________ From: Reed Hedges To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA) " Sent: Thu, May 27, 2010 7:43:24 AM Subject: Re: [Aria-users] can't receive image/video So getVideoExample was able to save the images? And it crashed on exit? If it was able to save images, how long did you run it for and how many images did it save? I don't know why ffmpeg failed, you can look at the jpeg images (e.g. in an image viewer) and see if any of them look corrupted. Reed Md. Zulfikar Hossain wrote: > Hi Reed, > Thank you so much. I am using Aria version 2.7.2 whatever I replaced > that portion as you said and i think i am near to end but getting like > this.......... please help........ > > hossain at hossain:~/albot2/src$ ./getVideoExample -host 192.168.0.250 > -port 7070 -rate 20 -counter > > > ArLog::init: File(getVideoLog.txt) Normal Logging Time Also printing > > Wed May 26 14:55:52 ArClientBase: Client now connected to server. > > Wed May 26 14:55:52 ArClientBase: Server connected to us on udp port 7070 > > Wed May 26 14:55:52 Server does not have "getPictureCam1"request, > requesting images using old "sendVideo" request. > > Wed May 26 14:55:52 Deleted 1 packets of 14 bytes > > *** glibc detected *** ./getVideoExample: free(): invalid pointer: > 0x0890af00 *** > > ======= Backtrace: ========= > > /lib/tls/i686/cmov/libc.so.6(+0x6b591)[0x1014591] > > /lib/tls/i686/cmov/libc.so.6(+0x6cde8)[0x1015de8] > > /lib/tls/i686/cmov/libc.so.6(cfree+0x6d)[0x1018ecd] > > /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xaa5741] > > /usr/lib/libstdc++.so.6(_ZNSs4_Rep10_M_destroyERKSaIcE+0x1d)[0xa81c2d] > > /usr/lib/libstdc++.so.6(_ZNSsD1Ev+0x4c)[0xa835dc] > > /usr/local/Aria/lib/libArNetworking.so(_ZN12ArClientBaseD1Ev+0x22b)[0x5b244b] > > > ./getVideoExample[0x8049fe7] > > /lib/tls/i686/cmov/libc.so.6(__libc_start_main+0xe6)[0xfbfbd6] > > ./getVideoExample[0x80497c1] > > ======= Memory map: ======== > > 00110000-001fd000 r-xp 00000000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 001fd000-001ff000 r--p 000ec000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 001ff000-00201000 rw-p 000ee000 08:09 825854 > /usr/local/opencv/lib/libcvaux.so.4.0.0 > > 00201000-00237000 r-xp 00000000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00237000-00238000 r--p 00036000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00238000-00239000 rw-p 00037000 08:09 825862 > /usr/local/opencv/lib/libhighgui.so.4.0.0 > > 00239000-0023a000 rw-p 00000000 00:00 0 > > 0023d000-004a6000 r-xp 00000000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004a6000-004a8000 r--p 00268000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004a8000-004ad000 rw-p 0026a000 08:09 825846 > /usr/local/opencv/lib/libcxcore.so.4.0.0 > > 004ad000-004ae000 rw-p 00000000 00:00 0 > > 004ae000-004c3000 r-xp 00000000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c3000-004c4000 r--p 00014000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c4000-004c5000 rw-p 00015000 08:06 65681 > /lib/tls/i686/cmov/libpthread-2.11.1.so > > 004c5000-004c7000 rw-p 00000000 00:00 0 > > 004c7000-004ce000 r-xp 00000000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004ce000-004cf000 r--p 00006000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004cf000-004d0000 rw-p 00007000 08:06 65685 > /lib/tls/i686/cmov/librt-2.11.1.so > > 004d0000-004e3000 r-xp 00000000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e3000-004e4000 r--p 00012000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e4000-004e5000 rw-p 00013000 08:06 40918 /lib/libz.so.1.2.3.3 > > 004e6000-004e8000 r-xp 00000000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004e8000-004e9000 r--p 00001000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004e9000-004ea000 rw-p 00002000 08:06 65661 > /lib/tls/i686/cmov/libdl-2.11.1.so > > 004ea000-00659000 r-xp 00000000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 00659000-0065a000 ---p 0016f000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 0065a000-0065e000 r--p 0016f000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 0065e000-00663000 rw-p 00173000 08:09 818952 > /usr/local/Aria/lib/libArNetworking.so > > 00663000-00680000 r-xp 00000000 08:06 40803 /lib/libgcc_s.so.1 > > 00680000-00681000 r--p 0001c000 08:06 40803 /lib/libgcc_s.so.1 > > 00681000-00682000 rw-p 0001d000 08:06 40803 /lib/libgcc_s.so.1 > > 00682000-0068e000 r-xp 00000000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 0068e000-0068f000 r--p 0000b000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 0068f000-00690000 rw-p 0000c000 08:09 605695 /usr/lib/libgomp.so.1.0.0 > > 00690000-006a9000 r-xp 00000000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006a9000-006aa000 ---p 00019000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006aa000-006ab000 r--p 00019000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006ab000-006ac000 rw-p 0001a000 08:09 605372 > /usr/lib/libatk-1.0.so.0.3009.1 > > 006ac000-006b6000 r-xp 00000000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b6000-006b7000 r--p 00009000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b7000-006b8000 rw-p 0000a000 08:09 606029 > /usr/lib/libpangocairo-1.0.so.0.2800.0 > > 006b8000-006bb000 r-xp 00000000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bb000-006bc000 r--p 00002000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bc000-006bd000 rw-p 00003000 08:09 605356 > /usr/lib/libgmodule-2.0.so.0.2400.1 > > 006bd000-006bf000 r-xp 00000000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006bf000-006c0000 r--p 00001000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006c0000-006c1000 rw-p 00002000 08:09 605291 > /usr/lib/libXcomposite.so.1.0.0 > > 006c2000-006c3000 r-xp 00000000 00:00 0 [vdso] > > 006c3000-00978000 r-xp 00000000 08:09 818951 /usr/local/Aria/lib/libAria.so > > 00978000-00989000 rw-p 002b5000 08:09 818951 /usr/local/Aria/lib/libAria.so > > 00989000-009ae000 r-xp 00000000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009ae000-009af000 r--p 00024000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009af000-009b0000 rw-p 00025000 08:09 606031 > /usr/lib/libpangoft2-1.0.so.0.2800.0 > > 009b0000-009de000 r-xp 00000000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009de000-009df000 r--p 0002d000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009df000-009e0000 rw-p 0002e000 08:09 605578 > /usr/lib/libfontconfig.so.1.4.4 > > 009e0000-009e4000 r-xp 00000000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e4000-009e5000 r--p 00003000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e5000-009e6000 rw-p 00004000 08:09 605358 > /usr/lib/libgthread-2.0.so.0.2400.1 > > 009e6000-009e8000 r-xp 00000000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009e8000-009e9000 r--p 00001000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009e9000-009ea000 rw-p 00002000 08:09 605295 /usr/lib/libXdamage.so.1.1.0 > > 009ea000-00ad3000 r-xp 00000000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad3000-00ad4000 ---p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad4000-00ad8000 r--p 000e9000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad8000-00ad9000 rw-p 000ed000 08:09 606191 /usr/lib/libstdc++.so.6.0.13 > > 00ad9000-00ae0000 rw-p 00000000 00:00 0 > > 00ae0000-00b57000 r-xp 00000000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b57000-00b59000 r--p 00076000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b59000-00b5a000 rw-p 00078000 08:09 605419 > /usr/lib/libcairo.so.2.10800.10 > > 00b5a000-00b5e000 r-xp 00000000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b5e000-00b5f000 r--p 00003000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b5f000-00b60000 rw-p 00004000 08:09 605301 /usr/lib/libXfixes.so.3.1.0 > > 00b63000-00b7e000 r-xp 00000000 08:06 40745 /lib/ld-2.11.1.so > > 00b7e000-00b7f000 r--p 0001a000 08:06 40745 /lib/ld-2.11.1.so > > 00b7f000-00b80000 rw-p 0001b000 08:06 40745 /lib/ld-2.11.1.soAborted > > > hossain at hossain:~/albot2/src$ ffmpeg -i video%d.jpeg -r 20 movie.mpeg > > > FFmpeg version SVN-r0.5.1-4:0.5.1-1ubuntu1, Copyright (c) 2000-2009 > Fabrice Bellard, et al. > > configuration: --extra-version=4:0.5.1-1ubuntu1 --prefix=/usr > --enable-avfilter --enable-avfilter-lavf --enable-vdpau --enable-bzlib > --enable-libgsm --enable-libschroedinger --enable-libspeex > --enable-libtheora --enable-libvorbis --enable-pthreads --enable-zlib > --disable-stripping --disable-vhook --enable-runtime-cpudetect > --enable-gpl --enable-postproc --enable-swscale --enable-x11grab > --enable-libdc1394 --enable-shared --disable-static > > libavutil 49.15. 0 / 49.15. 0 > > libavcodec 52.20. 1 / 52.20. 1 > > libavformat 52.31. 0 / 52.31. 0 > > libavdevice 52. 1. 0 / 52. 1. 0 > > libavfilter 0. 4. 0 / 0. 4. 0 > > libswscale 0. 7. 1 / 0. 7. 1 > > libpostproc 51. 2. 0 / 51. 2. 0 > > built on Mar 4 2010 12:35:30, gcc: 4.4.3 > > video%d.jpeg: I/O error occurred > > Usually that means that input file is truncated and/or corrupted. > > > > Thanks in advance > > Hossain > > > ------------------------------------------------------------------------ > *From:* Reed Hedges > *To:* "Help, discussion and announcements for MobileRobots' Advanced > Robot Interface for Applications (ARIA) " > > *Sent:* Tue, May 25, 2010 12:22:20 AM > *Subject:* Re: [Aria-users] can't receive image/video > > > Hello, > > What version of ARIA are you using? If you are using an older version > (before > 2.7) then getVideoExample is not checking whether it can use > getPictureCam1, or > should instead use sendVideo which is what savServer provides. > > getVideoExample.cpp should have code like this to use the right request: > > if(client.dataExists("getPictureCam1")) > { > ArLog::log(ArLog::Normal, "Requesting images using \"getPictureCam1\" > request."); > client.addHandler("getPictureCam1", &jpegHandlerCB); > if (rate != 0 && rateAsTime != 0) > client.request("getPictureCam1", rateAsTime); > else > client.requestOnce("getPictureCam1"); > } > else if(client.dataExists("sendVideo")) > { > ArLog::log(ArLog::Normal, "Server does not have \"getPictureCam1\" > request, requesting images using old \"sendVideo\" request."); > client.addHandler("sendVideo", &jpegHandlerCB); > if (rate != 0 && rateAsTime != 0) > client.request("sendVideo", rate); > else > client.requestOnce("sendVideo"); > } > else > { > ArLog::log(ArLog::Terse, "Error: Server does not have > \"getPictureCam1\" > or \"sendVideo\" request, cannot request images."); > Aria::exit(2); > } > > > If not, you can replace the part of getVideoExample.cpp that adds the > handler > for getPictureCam1 and makes the request with the above code that checks > for the > right data request name. > > > > Md. Zulfikar Hossain wrote: > > Hi > > > > help me to get image from camera(cannon vc-c50i) mounted on > > robot(P3-AT). too much urgent. > > > > I was running savServer() from onboard pc and then getVideoExample from > > laptop(linux-suse-9.3)........getting this > > > > ........... > > ArClientBase::addHandler: There is no data by the name "getPictureCam1" > > to handle > > Finding command for "getPictureCam1" but no data with that name exists > > Finding command for "getPictureCam1" but no data with that name exists > > Finding command for "getPictureCam1" but no data with that name exists > > getCommand is 0 when it probably shouldn't be > > > > ........... > > > > whereas savServer saying like this........ > > > > ........... > > > > Client Connected from 192.168.0.11 > > ArServeClient got request for command 0 which doesn't exist > > ArServeClient got request for command 0 which doesn't exist > > ArServeClient got request for command 0 which doesn't exist > > ........... > > > > if i run savClient then says...... > > ......... > > Setting video size to large. > > ArFXApp: openDisplay: unable to open display : 0.0 > > > > thanks in advance > > hOSSAIN > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > Aria-users mailing list > > Aria-users at lists.mobilerobots.com > >> http://lists.mobilerobots.com/mailman/listinfo/aria-users > > > > To unsubscribe visit the above webpage or send an e-mail to: > > > > aria-users-leave at lists.mobilerobots.com > > > >> Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > > ------------------------------------------------------------------------ > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100527/0b792ea7/attachment-0001.html From knewitts at iis.fraunhofer.de Fri May 28 08:00:45 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Fri, 28 May 2010 14:00:45 +0200 Subject: [Aria-users] correcting the encoder readings with the gyro data In-Reply-To: <4BFBED33.50806@iis.fraunhofer.de> References: <4BFBED33.50806@iis.fraunhofer.de> Message-ID: <4BFFB06D.2020806@iis.fraunhofer.de> hi everyone! I have some problems with the heading of my pioneer 3at over the time. Does anyone know how "double encoderCorrect (ArPoseWithTime deltaPose)" works? Can I use it to update the internal heading of the robot? I tried to do something like this: gyro.encoderCorrect(ArPoseWithTime(robot.getX(), robot.getY(), gyro.getAverage()), gyro.getAverageTaken()); But the compiler said: error: no matching function for call to ?ArAnalogGyro::encoderCorrect(ArPoseWithTime, ArTime)? How can I build an ArPoseWithTime object? Thanks Toby. -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From knewitts at iis.fraunhofer.de Fri May 28 08:04:45 2010 From: knewitts at iis.fraunhofer.de (Tobias Knewitz) Date: Fri, 28 May 2010 14:04:45 +0200 Subject: [Aria-users] correcting the encoder readings with the gyro data In-Reply-To: <4BFFB06D.2020806@iis.fraunhofer.de> References: <4BFBED33.50806@iis.fraunhofer.de> <4BFFB06D.2020806@iis.fraunhofer.de> Message-ID: <4BFFB15D.2020305@iis.fraunhofer.de> I found my fault. It was false brace. :-) gyro.encoderCorrect(ArPoseWithTime(robot.getX(), robot.getY(), gyro.getAverage(), gyro.getAverageTaken())); But anyway, can this work? Thanks Toby. Tobias Knewitz wrote: > hi everyone! > > I have some problems with the heading of my pioneer 3at over the time. > Does anyone know how "double encoderCorrect (ArPoseWithTime deltaPose)" > works? Can I use it to update the internal heading of the robot? I tried > to do something like this: > > gyro.encoderCorrect(ArPoseWithTime(robot.getX(), > robot.getY(), > gyro.getAverage()), > gyro.getAverageTaken()); > But the compiler said: > > error: no matching function for call to > ?ArAnalogGyro::encoderCorrect(ArPoseWithTime, ArTime)? > > How can I build an ArPoseWithTime object? > > Thanks Toby. > > -- Tobias Knewitz Fraunhofer Gesellschaft Institut f?r Integrierte Schaltungen Abt. Hochfrequenz- und Mikrowellentechnik Nordostpark 93 90411 N?rnberg Telefon +49 (0) 911 58 06 1-32 72 Fax +49 (0) 911 58 06 1-32 99 E-Mail knewitts at iis.fraunhofer.de Internet www.iis.fraunhofer.de From reed at mobilerobots.com Fri May 28 10:22:29 2010 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 28 May 2010 10:22:29 -0400 Subject: [Aria-users] can't receive image/video In-Reply-To: <776883.95753.qm@web46404.mail.sp1.yahoo.com> References: <861075.33140.qm@web46407.mail.sp1.yahoo.com> <4BFA6F7C.2070408@mobilerobots.com> <60817.47409.qm@web46411.mail.sp1.yahoo.com> <4BFD79DC.5070905@mobilerobots.com> <776883.95753.qm@web46404.mail.sp1.yahoo.com> Message-ID: <4BFFD1A5.9050001@mobilerobots.com> Md. Zulfikar Hossain wrote: > Hi Reed > > Thank you very much for your reply. > > Actually there was no image stored and i figured out that my problem is > for compilation because i am getting this warning Either use GCC 3.4 to build getVideoExample, or rebuild libAria and libArNetworking with the default ubuntu compiler (probably GCC 4). Go into /usr/local/Aria and run "make clean; make". Then go into ArNetworking and run "make clean; make". Reed From H.Miri at 2007.hull.ac.uk Sat May 29 15:36:05 2010 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Sat, 29 May 2010 20:36:05 +0100 Subject: [Aria-users] MobileSim - Telling Objects from Walls References: <4BFD89A0.7020009@mobilerobots.com> Message-ID: <445800D8FD5D3D43878FD7D2842A3047D3D5D1@EXCL2VS2.adir.hull.ac.uk> Hi Reed, Do you know of a (computationally not expensive) way of telling the difference between objects and walls in MobileSim by just using sonar readings? Thanks, . -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100529/7cb3939d/attachment.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: not available Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100529/7cb3939d/attachment.ksh From oussema.benneji.am at hotmail.fr Sat May 29 18:09:02 2010 From: oussema.benneji.am at hotmail.fr (Oussema Benneji) Date: Sat, 29 May 2010 23:09:02 +0100 Subject: [Aria-users] using camera mounted on the robot Message-ID: HI I need to grab frames from the camera mounted on the robot . I've used openCV functions for the task. The program is working fine with a simple webcam but when i try to use it with robot camera (VCC4), the frames cannot be acquired. please help me thx _________________________________________________________________ Hotmail : un service de messagerie gratuit, fiable et complet https://signup.live.com/signup.aspx?id=60969 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100529/b5efdaec/attachment.html From zhossain.kuet at yahoo.com Sat May 29 21:09:01 2010 From: zhossain.kuet at yahoo.com (Md. Zulfikar Hossain) Date: Sat, 29 May 2010 18:09:01 -0700 (PDT) Subject: [Aria-users] using camera mounted on the robot In-Reply-To: References: Message-ID: <219721.74205.qm@web46406.mail.sp1.yahoo.com> hi Can you share what program you are running? what type of error are you having? hossain ________________________________ From: Oussema Benneji To: aria-users at lists.mobilerobots.com Sent: Sun, May 30, 2010 10:09:02 AM Subject: [Aria-users] using camera mounted on the robot HI I need to grab frames from the camera mounted on the robot . I've used openCV functions for the task. The program is working fine with a simple webcam but when i try to use it with robot camera (VCC4), the frames cannot be acquired. please help me thx ________________________________ Hotmail : un service de messagerie gratuit, fiable et complet Profitez-en -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100529/9d38747a/attachment.html From dimitris312 at gmail.com Mon May 31 06:24:13 2010 From: dimitris312 at gmail.com (Dimitris) Date: Mon, 31 May 2010 13:24:13 +0300 Subject: [Aria-users] Sonarnl Message-ID: Hi, I want to simply find out the most possible position of the robot using the mcl localization of the Sonarnl. So I use these: ... ArSonarLocalizationTask locTask(&robot, &sonarDev, &arMap); locTask.setNumSamples(2000); ... if I do something like "locTask.getRobotMaxProbPose())" then I get "No samples" and getRobotMaxProbPose() returns a (0,0,0) Arpose. If I use localizeRobotAtHomeBlocking() it just turns the robot to a wrong heading. So how can I use localization to find robot position in order to update it using moveTo() on the map on mobileEyes? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100531/2ebcd69d/attachment.html From dimitris312 at gmail.com Mon May 31 12:02:07 2010 From: dimitris312 at gmail.com (Dimitris) Date: Mon, 31 May 2010 19:02:07 +0300 Subject: [Aria-users] robot move and araction Message-ID: Hi, I use simple robot.move(..) commands to move my robot. If I use an aractionlimiter action to make the robot stop if it is close to a wall, it does not work. Is this happening because this araction can not "override" robot.move()? Is there another way? I had asked again about using robot.move() and mobilesim. All things I tried had the same result. If I move the robot to any direction except for left it works as it should. But when it has to move left, then everything works in a very very wrong way. Is there a way to deal with this problem? I tried using robot.setVel(0) , robot.setRotVel(0), robot.stop(), robot.clearDirectMotion() before moving again but nothing works. Maybe an older version of mobilesim would work better? Thanks in advance. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100531/457332f9/attachment-0001.html From awantha at ieee.org Mon May 31 12:21:47 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Mon, 31 May 2010 09:21:47 -0700 (PDT) Subject: [Aria-users] Pioneer 3AT wireless module not working. Message-ID: <232969.85814.qm@web111703.mail.gq1.yahoo.com> HI, We have 2 pioneer 3AT mobile robots in our lab. One robot's wireless module (a PCMCIA card Cisco Aironet 350 series) is stopped working as the system doesn't recognize the wireless card any more. The system has Red Hat 7.3 installed in it. I know this is a operating system issue but I'm wondering any one of you have come across same kind of problem. I already tried reinstalling drivers (including latest Aironet 350 driver and PCMCIA card support) but no luck..Any suggestions are highly appreciated. Thanks Awantha Jayasiri -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100531/2e97a005/attachment.html From mjohnson at ihmc.us Mon May 31 21:41:59 2010 From: mjohnson at ihmc.us (Matthew Johnson) Date: Mon, 31 May 2010 20:41:59 -0500 Subject: [Aria-users] Pioneer 3AT wireless module not working. In-Reply-To: <232969.85814.qm@web111703.mail.gq1.yahoo.com> References: <232969.85814.qm@web111703.mail.gq1.yahoo.com> Message-ID: <001b01cb012b$a0c249a0$e246dce0$@us> Use a wireless bridge on the Ethernet port. Better range than you'll get from the wireless too. Matt From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Monday, May 31, 2010 11:22 AM To: aria-users at lists.mobilerobots.com Subject: [Aria-users] Pioneer 3AT wireless module not working. HI, We have 2 pioneer 3AT mobile robots in our lab. One robot's wireless module (a PCMCIA card Cisco Aironet 350 series) is stopped working as the system doesn't recognize the wireless card any more. The system has Red Hat 7.3 installed in it. I know this is a operating system issue but I'm wondering any one of you have come across same kind of problem. I already tried reinstalling drivers (including latest Aironet 350 driver and PCMCIA card support) but no luck..Any suggestions are highly appreciated. Thanks Awantha Jayasiri -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20100531/f8695c4a/attachment.html