From Reed.Hedges at Adept.com Mon Nov 1 10:27:51 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 1 Nov 2010 07:27:51 -0700 Subject: [Aria-users] Question regarding odometry pose MobileSim In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B35EE9@SRV-APP-6.adept.local> They should not change unless there is a localization process of some kind affecting it or the robot is moving. By how much do they change? Maybe you are seeing floating point rounding error when you print them out? We typically just use doubles so there can be a bit of error in the last places. You can also double check the velocities to make sure they are really 0. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Domagoj ?everdija Sent: Saturday, October 30, 2010 3:10 PM To: ariausers Subject: [Aria-users] Question regarding odometry pose MobileSim Greetings, Using ArTeleop in Aria I noticed that values of x,y, th are always changing no matter if robot is moving or not. Specifically, when I use MobileSim, odometric pose is always changing values while the robot is standing still. Is this a normal setting or should I do some transformation? P.S. I am using Windows 7/VC++ 2008 Express and p3dx MobileSim simulator. Thank you. -- Domagoj ?everdija -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 9904 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101101/b062c1d6/attachment.bin From evbacca at univalle.edu.co Tue Nov 2 06:47:17 2010 From: evbacca at univalle.edu.co (evbacca at univalle.edu.co) Date: Tue, 2 Nov 2010 05:47:17 -0500 (COT) Subject: [Aria-users] Missing laser readings using Hokuyo URG LRF Message-ID: <57558.192.168.20.33.1288694837.squirrel@swebse47.univalle.edu.co> Hi all, I'm using the URG-04LX LRF, a P3DX robot and Aria 2.7.2. I'm trying to get the raw laser readings, but the laser gives to me range data between 0 and 135?. I'm getting a half of total data. According to the p3dx-sh.p configuration file I'm doing a scanning between -120 and 120 degrees, with increments of 0.4?. In addition, I printed out the IncrementMax and IncrementMin properties, they are 135 and 0 respectively. May be this could be the problem, but I can't find some way to change these values. Please, someone could help me with this? Thanks in advance for your time. From Reed.Hedges at Adept.com Tue Nov 2 07:50:53 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 2 Nov 2010 04:50:53 -0700 Subject: [Aria-users] Missing laser readings using Hokuyo URG LRF In-Reply-To: <57558.192.168.20.33.1288694837.squirrel@swebse47.univalle.edu.co> References: <57558.192.168.20.33.1288694837.squirrel@swebse47.univalle.edu.co> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0254A97845@SRV-APP-6.adept.local> Can you send p3dx-sh.p if you have modified it, and also any command-line arguments being used? -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of evbacca at univalle.edu.co [evbacca at univalle.edu.co] Sent: Tuesday, November 02, 2010 6:47 AM To: ariausers Subject: [Aria-users] Missing laser readings using Hokuyo URG LRF Hi all, I'm using the URG-04LX LRF, a P3DX robot and Aria 2.7.2. I'm trying to get the raw laser readings, but the laser gives to me range data between 0 and 135?. I'm getting a half of total data. According to the p3dx-sh.p configuration file I'm doing a scanning between -120 and 120 degrees, with increments of 0.4?. In addition, I printed out the IncrementMax and IncrementMin properties, they are 135 and 0 respectively. May be this could be the problem, but I can't find some way to change these values. Please, someone could help me with this? Thanks in advance for your time. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3981 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101102/63c47f9e/attachment-0001.bin From stfox88 at gmail.com Fri Nov 5 11:44:12 2010 From: stfox88 at gmail.com (Stephen D. Fox) Date: Fri, 5 Nov 2010 11:44:12 -0400 Subject: [Aria-users] openCV with Sensoray 311 PC104+ frame grabber Message-ID: I am experiencing difficulties getting the C version of openCV (1.0 and 2.0) to grab images properly from the frame grabber. Does anyone have an easy fix for this? I am trying to avoid using SAV as a background service. Thanks in advance for the help. Stephen Fox -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101105/5c46395d/attachment.html From Reed.Hedges at Adept.com Fri Nov 5 17:04:33 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 5 Nov 2010 14:04:33 -0700 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> Hi Xinwen, I was able to run this code using both MobileSim and a robot. In both cases the robot moved forward. The distance looked like it could be 400 mm though I didn't measure. Note that the move() call effectively cancels the effect of the setVel() call. If you remove the move() function call, then the robot will start moving forward at 200 mm/sec for one second, until the program terminates. With the move() call, a MOVE command is sent instead for the 400 mm distance. So if you only want the MOVE, you can remove the setVel() call. If you want to change the velocity at which the MOVE command operates, use setTransVelMax() instead. Do you know if you or anyone else has changed any of the P3DX's firmware parameters using ARCOScf? Do other program such as ARIA's 'demo' example work? Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu Sent: Saturday, October 30, 2010 12:44 AM To: ariausers Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable Dear All, I have the following code. It works on MobiSim, but does not work on P3-DX via serial cable. My P3DX has only sonar. When the code connects to the robot, the sonar begins to beep. However, the robot does not move at all. Any suggestion? ----------- code starts ---------- #include "Aria.h" int main(int argc, char** argv) { Aria::init(); ArArgumentParser parser(&argc, argv); parser.loadDefaultArguments(); ArRobot robot; ArRobotConnector robotConnector(&parser, &robot); if (!robotConnector.connectRobot( )) { if (!parser.checkHelpAndWarnUnparsed()) { ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); } // otherwise abort else { ArLog::log(ArLog::Terse, "Error, could not connect to robot."); Aria::logOptions(); Aria::exit(1); } } if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); exit(1); } ArSonarDevice sonarDev; ArKeyHandler keyHandler; Aria::setKeyHandler(&keyHandler); robot.attachKeyHandler(&keyHandler); printf("You may press escape to exit\n"); robot.addRangeDevice(&sonarDev); robot.runAsync(true); ArUtil::sleep(1000); robot.lock(); robot.comInt(ArCommands::ENABLE, 1); robot.setVel(200); robot.move(400); robot.unlock(); ArUtil::sleep(10000); Aria::exit(0); } ----------code ends ----- Thanks. David -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 13127 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101105/0b98e001/attachment.bin From rapatrick1 at ualr.edu Mon Nov 8 19:28:19 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Mon, 8 Nov 2010 18:28:19 -0600 Subject: [Aria-users] Incorrect output for sonar device readings Message-ID: I am doing a project for school in which I will need to collect the ranges from the *8 *sonar sensors attached to a Pioneer 2dx robot. I am running programs on the onboard computer of an old Pioneer using an SSH client to a windows machine. I am using the outdated software that the Pioneer already has on it; redhat 9 OS, Aria 2.0 and gcc 2.95. The first thing I need to figure out how to do is access the sonar devices that are on the robot. This code is merely supposed to get the number of sonar devices attached, and output their readings and angle. #include "Aria.h" #include using namespace std; int main(int argc, char **argv) { ArRobot robot; ArSonarDevice sonar; ArKeyHandler keyHandler; ArSimpleConnector connector(&argc, argv); if (!connector.parseArgs() || argc > 1) { connector.logOptions(); keyHandler.restore(); exit(1); } Aria::init(); robot.addRangeDevice(&sonar); Aria::setKeyHandler(&keyHandler); robot.attachKeyHandler(&keyHandler); if (!connector.connectRobot(&robot)) { cout << "Could not connect to robot... exiting"<getSensorTh(),Range->getSensorTh(),&readingAngle); cout << reading << " " << readingAngle << "\n"; } robot.unlock(); robot.waitForRunExit(); Aria::shutdown(); exit(0); } The output I get from running on the onboard computer is this: ---------------------------------------------------------------- Could not connect to simulator, connecting to robot through serial port /dev/ttyS0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: UArk_1435 Type: Pioneer Subtype: p2dx Loaded robot parameters from p2dx.p The robot has 196 sensors. Aria: Received signal 'SIGSEGV'. Shutting down. ---------------------------------------------------------------- Each output gives a different random number of sensors. When run on a more up to date computer using MobileSim with Aria 2.72 and Windows Vista, this is the output I get ---------------------------------------------------------------- Connecting to simulator through tcp. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Loaded robot parameters from p3dx.p The robot has 16 sensors. Sensor 0 Range = 4750 Sensor 0 Angle = 90 Sensor 1 Range = 4750 Sensor 1 Angle = 50 Sensor 2 Range = 4750 Sensor 2 Angle = 30 Sensor 3 Range = 4750 Sensor 3 Angle = 10 Sensor 4 Range = 4750 Sensor 4 Angle = -10 Sensor 5 Range = 4750 Sensor 5 Angle = -30 Sensor 6 Range = 4750 Sensor 6 Angle = -50 Sensor 7 Range = 4750 Sensor 7 Angle = -90 Sensor 8 Range = 4750 Sensor 8 Angle = -90 Sensor 9 Range = 4750 Sensor 9 Angle = -130 Sensor 10 Range = 4750 Sensor 10 Angle = -150 Sensor 11 Range = 4750 Sensor 11 Angle = -170 Sensor 12 Range = 4750 Sensor 12 Angle = 170 Sensor 13 Range = 4750 Sensor 13 Angle = 150 Sensor 14 Range = 4750 Sensor 14 Angle = 130 Sensor 15 Range = 4750 Sensor 15 Angle = 90 ------------------------------------------------------------------- notice that there are only 8 sensors on the robot yet it outputs 16, and the ranges are all the maximum regardless of any obstructions. I am assuming that there is some glaring problem like me not connecting the sonar device properly, so it just makes up numbers or uses defaults. The examples that I have tried from the examples folder work fine. What exactly am I not understanding with the code? -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101108/a2ef210c/attachment-0001.html From rapatrick1 at ualr.edu Mon Nov 8 19:36:16 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Mon, 8 Nov 2010 18:36:16 -0600 Subject: [Aria-users] Is it possible to upgrade the OS? Message-ID: I am working on a school project using a Pioneer 2dx. It uses a Linux Red Hat 9 operating system, Aria 2.0, and gcc 2.95. I have tried to update Aria to 2.72 to coincide with tutorials and other code that I have found on the internet; however, now programs require gcc 3.3 to compile, and I am unable to install that because of other dependencies. Is it possible to upgrade the OS on the robot so that I can use the newer version of Aria? if so, which would be the best version to use and how would I go about this given that there are no cd drives on the robot. Or even better, is it possible to actually run programs on the robot from a remote computer altogether bypassing the onboard computer? As of now I have just reinstalled the latest version that I could find (2.0) that uses gcc 2.95. Is it too much headache to even worry about given that I only have about a month left? I would like to upgrade, however if it will take more that 5 or 6 hours to figure out and do, then I suppose it would make more sense for me to just work with what I have. Thanks, -Ryan -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101108/5afe9fb1/attachment.html From Reed.Hedges at Adept.com Tue Nov 9 08:41:03 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 9 Nov 2010 05:41:03 -0800 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> What is the default compiler for Red Hat 9? I am guessing it is something newer than 2.95, unless you or someone else has added 2.95 to the executable path such that it takes precedence. Run "g++ --version" to find out. If Red Hat 9 has a compiler such as gcc 3.3 or 4.x, and you only need ARIA, (i.e. you don't need ARNL or SONARNL or any other additional libraries that may not have source code), you could recompile ARIA using the normal Red Hat 9 compiler. (2.95 may be too old, and 2.96 was a weird release with some problems that I would avoid using if you can.) To recompile ARIA, just go into /usr/local/Aria and run make clean make Then go into ArNetworking and run make clean make A bit more discussion is here: http://robots.mobilerobots.com/wiki/Linux_C%2B%2B_Compilers Note that if you recompile a library, you will need to use a compatible compiler for all programs that link to those libraries. In particular, recent major versions of GCC have not been compatible (e.g. 3.x vs. 4.x). -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [rapatrick1 at ualr.edu] Sent: Monday, November 08, 2010 7:36 PM To: ariausers Subject: [Aria-users] Is it possible to upgrade the OS? I am working on a school project using a Pioneer 2dx. It uses a Linux Red Hat 9 operating system, Aria 2.0, and gcc 2.95. I have tried to update Aria to 2.72 to coincide with tutorials and other code that I have found on the internet; however, now programs require gcc 3.3 to compile, and I am unable to install that because of other dependencies. Is it possible to upgrade the OS on the robot so that I can use the newer version of Aria? if so, which would be the best version to use and how would I go about this given that there are no cd drives on the robot. Or even better, is it possible to actually run programs on the robot from a remote computer altogether bypassing the onboard computer? As of now I have just reinstalled the latest version that I could find (2.0) that uses gcc 2.95. Is it too much headache to even worry about given that I only have about a month left? I would like to upgrade, however if it will take more that 5 or 6 hours to figure out and do, then I suppose it would make more sense for me to just work with what I have. Thanks, -Ryan -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 4467 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/5bfcde16/attachment.bin From Reed.Hedges at Adept.com Tue Nov 9 08:41:31 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 9 Nov 2010 05:41:31 -0800 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> References: , <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> One question I should have asked in my prior email: Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long time on Pioneer 2 onboard computers, but not 9. -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3075 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/dff681e9/attachment.bin From Reed.Hedges at Adept.com Tue Nov 9 08:52:29 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 9 Nov 2010 05:52:29 -0800 Subject: [Aria-users] Incorrect output for sonar device readings In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E0@SRV-APP-6.adept.local> One possibility is that at the point that you call getNumSonar(), ArRobot has not yet received the first packet of sonar data. (The other is that the packets received are corrupted somehow, but you would probably see other symptoms of this in your programs or in the 'demo' example.) You could just have the program sleep for more than a hundred ms. to try to avoid this if it is happening. E.g. ArUtil::sleep(200); It looks like the current version of ARIA will return 0 for getNumSonar() if no sonar data has yet been returned, maybe 2.0 didn't. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [rapatrick1 at ualr.edu] Sent: Monday, November 08, 2010 7:28 PM To: ariausers Subject: [Aria-users] Incorrect output for sonar device readings I am doing a project for school in which I will need to collect the ranges from the 8 sonar sensors attached to a Pioneer 2dx robot. I am running programs on the onboard computer of an old Pioneer using an SSH client to a windows machine. I am using the outdated software that the Pioneer already has on it; redhat 9 OS, Aria 2.0 and gcc 2.95. The first thing I need to figure out how to do is access the sonar devices that are on the robot. This code is merely supposed to get the number of sonar devices attached, and output their readings and angle. #include "Aria.h" #include using namespace std; int main(int argc, char **argv) { ArRobot robot; ArSonarDevice sonar; ArKeyHandler keyHandler; ArSimpleConnector connector(&argc, argv); if (!connector.parseArgs() || argc > 1) { connector.logOptions(); keyHandler.restore(); exit(1); } Aria::init(); robot.addRangeDevice(&sonar); Aria::setKeyHandler(&keyHandler); robot.attachKeyHandler(&keyHandler); if (!connector.connectRobot(&robot)) { cout << "Could not connect to robot... exiting"<getSensorTh(),Range->getSensorTh(),&readingAngle); cout << reading << " " << readingAngle << "\n"; } robot.unlock(); robot.waitForRunExit(); Aria::shutdown(); exit(0); } The output I get from running on the onboard computer is this: ---------------------------------------------------------------- Could not connect to simulator, connecting to robot through serial port /dev/ttyS0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: UArk_1435 Type: Pioneer Subtype: p2dx Loaded robot parameters from p2dx.p The robot has 196 sensors. Aria: Received signal 'SIGSEGV'. Shutting down. ---------------------------------------------------------------- Each output gives a different random number of sensors. When run on a more up to date computer using MobileSim with Aria 2.72 and Windows Vista, this is the output I get ---------------------------------------------------------------- Connecting to simulator through tcp. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: MobileSim Type: Pioneer Subtype: p3dx Loaded robot parameters from p3dx.p The robot has 16 sensors. Sensor 0 Range = 4750 Sensor 0 Angle = 90 Sensor 1 Range = 4750 Sensor 1 Angle = 50 Sensor 2 Range = 4750 Sensor 2 Angle = 30 Sensor 3 Range = 4750 Sensor 3 Angle = 10 Sensor 4 Range = 4750 Sensor 4 Angle = -10 Sensor 5 Range = 4750 Sensor 5 Angle = -30 Sensor 6 Range = 4750 Sensor 6 Angle = -50 Sensor 7 Range = 4750 Sensor 7 Angle = -90 Sensor 8 Range = 4750 Sensor 8 Angle = -90 Sensor 9 Range = 4750 Sensor 9 Angle = -130 Sensor 10 Range = 4750 Sensor 10 Angle = -150 Sensor 11 Range = 4750 Sensor 11 Angle = -170 Sensor 12 Range = 4750 Sensor 12 Angle = 170 Sensor 13 Range = 4750 Sensor 13 Angle = 150 Sensor 14 Range = 4750 Sensor 14 Angle = 130 Sensor 15 Range = 4750 Sensor 15 Angle = 90 ------------------------------------------------------------------- notice that there are only 8 sensors on the robot yet it outputs 16, and the ranges are all the maximum regardless of any obstructions. I am assuming that there is some glaring problem like me not connecting the sonar device properly, so it just makes up numbers or uses defaults. The examples that I have tried from the examples folder work fine. What exactly am I not understanding with the code? -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5540 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/701c9860/attachment-0001.bin From awantha at ieee.org Tue Nov 9 11:32:27 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Tue, 9 Nov 2010 08:32:27 -0800 (PST) Subject: [Aria-users] Software reinstalling issue Message-ID: <356737.91920.qm@web120116.mail.ne1.yahoo.com> Hi Due to a hardware failure, I had to reinstall red hat 7.3 and all Aria packages to my pioneer 3AT robot. When running the programs in examples seems line its not generating the correct results. There is an error mentioning "Error: Have no parameters for this robot". Could you please tell me what should I do to restore it to the working level. Thanks Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/db7e8bdc/attachment.html From awantha at ieee.org Tue Nov 9 11:47:40 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Tue, 9 Nov 2010 08:47:40 -0800 (PST) Subject: [Aria-users] Aria softwares Message-ID: <603484.55549.qm@web120120.mail.ne1.yahoo.com> Hi Due to re-installation of the operating system, now I have a fresh copy of red hat linux 7.3 in my robot's onboard computer. Could you please let me know what packages should I install (other than Aria) to make the robot work properly. Thanks Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/beba762d/attachment.html From Reed.Hedges at Adept.com Tue Nov 9 12:52:51 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 9 Nov 2010 09:52:51 -0800 Subject: [Aria-users] Aria softwares In-Reply-To: <603484.55549.qm@web120120.mail.ne1.yahoo.com> References: <603484.55549.qm@web120120.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E1@SRV-APP-6.adept.local> The other libraries are for specific accessories, or in the case of ARNL, doing autonomous navigation. What is your robot equipped with? Often, you only need ARIA. -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Tuesday, November 09, 2010 11:47 AM To: ariausers Subject: [Aria-users] Aria softwares Hi Due to re-installation of the operating system, now I have a fresh copy of red hat linux 7.3 in my robot's onboard computer. Could you please let me know what packages should I install (other than Aria) to make the robot work properly. Thanks Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3304 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/d40e0f86/attachment.bin From Reed.Hedges at Adept.com Tue Nov 9 12:53:34 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 9 Nov 2010 09:53:34 -0800 Subject: [Aria-users] Software reinstalling issue In-Reply-To: <356737.91920.qm@web120116.mail.ne1.yahoo.com> References: <356737.91920.qm@web120116.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E2@SRV-APP-6.adept.local> What version of ARIA did you install? Can you copy and send the whole output, particularly where ARIA prints out the robot name, and types? Thanks -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Tuesday, November 09, 2010 11:32 AM To: ariausers Subject: [Aria-users] Software reinstalling issue Hi Due to a hardware failure, I had to reinstall red hat 7.3 and all Aria packages to my pioneer 3AT robot. When running the programs in examples seems line its not generating the correct results. There is an error mentioning "Error: Have no parameters for this robot". Could you please tell me what should I do to restore it to the working level. Thanks Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3441 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/c01f7a7c/attachment.bin From rapatrick1 at ualr.edu Tue Nov 9 14:55:18 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Tue, 9 Nov 2010 13:55:18 -0600 Subject: [Aria-users] Incorrect output for sonar device readings In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E0@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E0@SRV-APP-6.adept.local> Message-ID: I am not at a location where I can test exactly what you ask, however I previously had the program running a while loop that looked like this int count = 0; output getNumSonar; while(count<5) { output sonar data; //exactly like in the code I posted sleep(5seconds); count++; } It output the same thing as before. getNumSonar returned 16 sonar sensors when there are only 8 on the robot and maximum ranges (4750) for all 16 supposed devices 5 times, waiting 5 seconds in between each output. It is reading 16 sensors and placing them at angles all around the robot. But the robot only has 8 around the front and none in the back. It seems like the actual sonar sensors are not even visible and it is just either giving some kind of default values in Aria 2.7.2 or giving a random number and an error in Aria 2.0. I know the sonar sensors work, because when I run the examples it properly avoids running into things. Thanks for the quick response, -Ryan On Tue, Nov 9, 2010 at 7:52 AM, Reed Hedges wrote: > > One possibility is that at the point that you call getNumSonar(), ArRobot > has not yet received the first packet of sonar data. (The other is that the > packets received are corrupted somehow, but you would probably see other > symptoms of this in your programs or in the 'demo' example.) > > You could just have the program sleep for more than a hundred ms. to try to > avoid this if it is happening. E.g. > > ArUtil::sleep(200); > > It looks like the current version of ARIA will return 0 for getNumSonar() > if no sonar data has yet been returned, maybe 2.0 didn't. > > Reed > > > > -- > Reed Hedges > Research Support and Software > Adept Technology Inc. - Mobile Robots > reed.hedges at adept.com > > http://www.mobilerobots.com - http://www.adept.com > > For documentation and support, visit http://robots.mobilerobots.com > ________________________________________ > From: aria-users-bounces at lists.mobilerobots.com [ > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [ > rapatrick1 at ualr.edu] > Sent: Monday, November 08, 2010 7:28 PM > To: ariausers > Subject: [Aria-users] Incorrect output for sonar device readings > > I am doing a project for school in which I will need to collect the ranges > from the 8 sonar sensors attached to a Pioneer 2dx robot. I am running > programs on the onboard computer of an old Pioneer using an SSH client to a > windows machine. I am using the outdated software that the Pioneer already > has on it; redhat 9 OS, Aria 2.0 and gcc 2.95. > > The first thing I need to figure out how to do is access the sonar devices > that are on the robot. This code is merely supposed to get the number of > sonar devices attached, and output their readings and angle. > > #include "Aria.h" > #include > using namespace std; > > int main(int argc, char **argv) > { > ArRobot robot; > ArSonarDevice sonar; > ArKeyHandler keyHandler; > ArSimpleConnector connector(&argc, argv); > > if (!connector.parseArgs() || argc > 1) > { > connector.logOptions(); > keyHandler.restore(); > exit(1); > } > > Aria::init(); > > robot.addRangeDevice(&sonar); > > Aria::setKeyHandler(&keyHandler); > robot.attachKeyHandler(&keyHandler); > > > if (!connector.connectRobot(&robot)) > { > cout << "Could not connect to robot... exiting"< keyHandler.restore(); > Aria::shutdown(); > exit(1); > } > > robot.runAsync(true); > > robot.lock(); > robot.enableMotors(); > robot.setAbsoluteMaxTransVel(400); > > //Outputs the range and angle from each sensor > int numSonar = robot.getNumSonar(); > cout << "The robot has " << numSonar << " sensors." << endl; > > ArSensorReading* Range; > int i; > double reading, readingAngle; > for(i=0;i { > Range = robot.getSonarReading(i); > cout << "Sensor " << i << " Range = " << Range->getRange() - > robot.getRobotRadius()<< "\n"; > cout << "Sensor " << i << " Angle = " << Range->getSensorTh()<< > "\n"; > reading = > sonar.currentReadingPolar(Range->getSensorTh(),Range->getSensorTh(),&readingAngle); > cout << reading << " " << readingAngle << "\n"; > } > robot.unlock(); > > robot.waitForRunExit(); > Aria::shutdown(); > exit(0); > } > > The output I get from running on the onboard computer is this: > ---------------------------------------------------------------- > Could not connect to simulator, connecting to robot through serial port > /dev/ttyS0. > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: UArk_1435 > Type: Pioneer > Subtype: p2dx > Loaded robot parameters from p2dx.p > The robot has 196 sensors. > Aria: Received signal 'SIGSEGV'. Shutting down. > ---------------------------------------------------------------- > > Each output gives a different random number of sensors. > > > When run on a more up to date computer using MobileSim with Aria 2.72 and > Windows Vista, this is the output I get > ---------------------------------------------------------------- > Connecting to simulator through tcp. > > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: MobileSim > Type: Pioneer > Subtype: p3dx > Loaded robot parameters from p3dx.p > The robot has 16 sensors. > Sensor 0 Range = 4750 > Sensor 0 Angle = 90 > Sensor 1 Range = 4750 > Sensor 1 Angle = 50 > Sensor 2 Range = 4750 > Sensor 2 Angle = 30 > Sensor 3 Range = 4750 > Sensor 3 Angle = 10 > Sensor 4 Range = 4750 > Sensor 4 Angle = -10 > Sensor 5 Range = 4750 > Sensor 5 Angle = -30 > Sensor 6 Range = 4750 > Sensor 6 Angle = -50 > Sensor 7 Range = 4750 > Sensor 7 Angle = -90 > Sensor 8 Range = 4750 > Sensor 8 Angle = -90 > Sensor 9 Range = 4750 > Sensor 9 Angle = -130 > Sensor 10 Range = 4750 > Sensor 10 Angle = -150 > Sensor 11 Range = 4750 > Sensor 11 Angle = -170 > Sensor 12 Range = 4750 > Sensor 12 Angle = 170 > Sensor 13 Range = 4750 > Sensor 13 Angle = 150 > Sensor 14 Range = 4750 > Sensor 14 Angle = 130 > Sensor 15 Range = 4750 > Sensor 15 Angle = 90 > ------------------------------------------------------------------- > > notice that there are only 8 sensors on the robot yet it outputs 16, and > the ranges are all the maximum regardless of any obstructions. > > I am assuming that there is some glaring problem like me not connecting the > sonar device properly, so it just makes up numbers or uses defaults. The > examples that I have tried from the examples folder work fine. What exactly > am I not understanding with the code? > > > > > > > > > > > > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/c355dfe5/attachment-0001.html From rapatrick1 at ualr.edu Tue Nov 9 17:59:22 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Tue, 9 Nov 2010 16:59:22 -0600 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> Message-ID: Well I thought it was running on Red Hat 9, but a different command gave me what seems like conflicting information. Here are the outputs. cat /etc/redhat-release Red Hat Linux release 9 (Shrike) cat /proc/version Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com) (gcc version 3.2.2 20030222 (Red Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 g++ -v Reading specs from /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs gcc version 2.95.3 20010315 (release) If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would I know or be able to remove it from the executable path? I don't see a gcc 3.3 or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm it required some other file to be installed that I was unable to install. I think it was some version of libgcj. When I tried to install that, I was told that I needed some other file to be installed. I think it would be foolish for me to keep down that trail of downloading and installing software the requires me to update more software, because I have no idea when it will end. So I am just thinking that my OS is too old. Do I need to upgrade it? how would I do that? On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges wrote: > > One question I should have asked in my prior email: > > Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long > time on Pioneer 2 onboard computers, but not 9. > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/52ef5329/attachment.html From xinwenfu at gmail.com Tue Nov 9 18:09:24 2010 From: xinwenfu at gmail.com (Xinwen Fu) Date: Tue, 9 Nov 2010 18:09:24 -0500 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> Message-ID: The robot is weird. It seems that the use of move() and setDeltaHeading() depends on running other commands. For example, if I run setVel() for 3 seconds (using ArUtil::sleep(3000)), then I run move() and move() will work. If I just run move() alone, move() does not work. If I run some other commands before setDeltaHeading(), setDeltaHeading() will work. Another weird thing is, if I run setVel() for 1 seconds (ArUtil::sleep(1000)), the robot does not move. The following move() does not work either. Something is wrong. Xinwen Fu On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/3bc865ed/attachment.html From awantha at ieee.org Tue Nov 9 20:59:39 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Tue, 9 Nov 2010 17:59:39 -0800 (PST) Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Message-ID: <315672.48007.qm@web120111.mail.ne1.yahoo.com> Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101109/6d96967a/attachment.html From Reed.Hedges at Adept.com Wed Nov 10 08:30:13 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 10 Nov 2010 05:30:13 -0800 Subject: [Aria-users] Software reinstallation issue on robot's onboard computer In-Reply-To: <315672.48007.qm@web120111.mail.ne1.yahoo.com> References: <315672.48007.qm@web120111.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCA@SRV-APP-6.adept.local> I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 12335 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/2c164942/attachment-0001.bin From Reed.Hedges at Adept.com Wed Nov 10 08:34:21 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 10 Nov 2010 05:34:21 -0800 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCC@SRV-APP-6.adept.local> Can you send me the serial number of your robot so I can look up exactly what it is? Also, do you know if you or anyone has upgraded the firmware at any point? The firmware configuration tool will print out the firmware version. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu Sent: Tuesday, November 09, 2010 6:09 PM To: ariausers Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable The robot is weird. It seems that the use of move() and setDeltaHeading() depends on running other commands. For example, if I run setVel() for 3 seconds (using ArUtil::sleep(3000)), then I run move() and move() will work. If I just run move() alone, move() does not work. If I run some other commands before setDeltaHeading(), setDeltaHeading() will work. Another weird thing is, if I run setVel() for 1 seconds (ArUtil::sleep(1000)), the robot does not move. The following move() does not work either. Something is wrong. Xinwen Fu On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges > wrote: Hi Xinwen, I was able to run this code using both MobileSim and a robot. In both cases the robot moved forward. The distance looked like it could be 400 mm though I didn't measure. Note that the move() call effectively cancels the effect of the setVel() call. If you remove the move() function call, then the robot will start moving forward at 200 mm/sec for one second, until the program terminates. With the move() call, a MOVE command is sent instead for the 400 mm distance. So if you only want the MOVE, you can remove the setVel() call. If you want to change the velocity at which the MOVE command operates, use setTransVelMax() instead. Do you know if you or anyone else has changed any of the P3DX's firmware parameters using ARCOScf? Do other program such as ARIA's 'demo' example work? Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu Sent: Saturday, October 30, 2010 12:44 AM To: ariausers Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable Dear All, I have the following code. It works on MobiSim, but does not work on P3-DX via serial cable. My P3DX has only sonar. When the code connects to the robot, the sonar begins to beep. However, the robot does not move at all. Any suggestion? ----------- code starts ---------- #include "Aria.h" int main(int argc, char** argv) { Aria::init(); ArArgumentParser parser(&argc, argv); parser.loadDefaultArguments(); ArRobot robot; ArRobotConnector robotConnector(&parser, &robot); if (!robotConnector.connectRobot( )) { if (!parser.checkHelpAndWarnUnparsed()) { ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything"); } // otherwise abort else { ArLog::log(ArLog::Terse, "Error, could not connect to robot."); Aria::logOptions(); Aria::exit(1); } } if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) { Aria::logOptions(); exit(1); } ArSonarDevice sonarDev; ArKeyHandler keyHandler; Aria::setKeyHandler(&keyHandler); robot.attachKeyHandler(&keyHandler); printf("You may press escape to exit\n"); robot.addRangeDevice(&sonarDev); robot.runAsync(true); ArUtil::sleep(1000); robot.lock(); robot.comInt(ArCommands::ENABLE, 1); robot.setVel(200); robot.move(400); robot.unlock(); ArUtil::sleep(10000); Aria::exit(0); } ----------code ends ----- Thanks. David _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 15335 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/ca58119d/attachment.bin From Reed.Hedges at Adept.com Wed Nov 10 08:43:28 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 10 Nov 2010 05:43:28 -0800 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local> It looks like Red Hat 9. The version given by /proc/version (or uname) is just the Linux kernel version and information about how the kernel was compiled by Red Hat. If you run: which g++ and alias Then we can see what it's actually using for g++. You can run /usr/bin/g++ --version To find out the normal system default. If you clear any appearance of a special GCC 2.95 directory from PATH and clear any alias for g++ to a 2.95 (using the unalias command), then it should use the normal system default. To look at the PATH variable: echo $PATH To reset PATH to a new value: export PATH=newvalue In PATH, each directory to seach for commands is separated by a colon (:). I would be surprised if 2.95 was the only version of GCC on the system, though perhaps someone uninstalled the original 3.x version and replaced it with 2.95. I believe you can see if a package is installed with a command like this: rpm -q gcc rpm -q g++ RPM packages have dependencies (a tree of dependencies really), you will need to install all of these to install a package. I think Red Hat 9 may have a tool to automatically download and install these, but I am not that familiar with Red Hat. Maybe yum? Other users know? Upgrading would be a good idea in general, I would recommend Debian 5 since that is going to be the version we use in the near future (until a new version of Debian comes out, stabilizes, and we test it.) However, upgrading the OS may take some time, and so if you need this working soon, I would just get it to use GCC 3.x. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick Sent: Tuesday, November 09, 2010 5:59 PM To: ariausers Subject: Re: [Aria-users] Is it possible to upgrade the OS? Well I thought it was running on Red Hat 9, but a different command gave me what seems like conflicting information. Here are the outputs. cat /etc/redhat-release Red Hat Linux release 9 (Shrike) cat /proc/version Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com) (gcc version 3.2.2 20030222 (Red Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 g++ -v Reading specs from /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs gcc version 2.95.3 20010315 (release) If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would I know or be able to remove it from the executable path? I don't see a gcc 3.3 or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm it required some other file to be installed that I was unable to install. I think it was some version of libgcj. When I tried to install that, I was told that I needed some other file to be installed. I think it would be foolish for me to keep down that trail of downloading and installing software the requires me to update more software, because I have no idea when it will end. So I am just thinking that my OS is too old. Do I need to upgrade it? how would I do that? On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges > wrote: One question I should have asked in my prior email: Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long time on Pioneer 2 onboard computers, but not 9. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 18127 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/abc456d7/attachment-0001.bin From Reed.Hedges at Adept.com Wed Nov 10 08:56:45 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 10 Nov 2010 05:56:45 -0800 Subject: [Aria-users] Software reinstallation issue on robot's onboard computer In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCA@SRV-APP-6.adept.local> References: <315672.48007.qm@web120111.mail.ne1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCA@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9@SRV-APP-6.adept.local> The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment.bin From xinwenfu at gmail.com Wed Nov 10 09:26:15 2010 From: xinwenfu at gmail.com (Xinwen Fu) Date: Wed, 10 Nov 2010 09:26:15 -0500 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCC@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCC@SRV-APP-6.adept.local> Message-ID: Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com> [mailto: > aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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 aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment-0001.html From xinwenfu at gmail.com Wed Nov 10 09:26:52 2010 From: xinwenfu at gmail.com (Xinwen Fu) Date: Wed, 10 Nov 2010 09:26:52 -0500 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F0254B3676E@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DCC@SRV-APP-6.adept.local> Message-ID: Model: P3-DX Serial number: GMC_3720 Nobody touched the firmware. I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 9:26 AM, Xinwen Fu wrote: > Model: P3-DX > Serial number: GMC_3720 > > I can provide you a collection to the robot if you like it. > > Thanks. > > Xinwen Fu > > > On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges wrote: > >> >> Can you send me the serial number of your robot so I can look up exactly >> what it is? Also, do you know if you or anyone has upgraded the firmware >> at any point? >> >> The firmware configuration tool will print out the firmware version. >> >> >> From: aria-users-bounces at lists.mobilerobots.com [mailto: >> aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu >> Sent: Tuesday, November 09, 2010 6:09 PM >> To: ariausers >> Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via >> serial cable >> >> The robot is weird. >> >> It seems that the use of move() and setDeltaHeading() depends on running >> other commands. For example, if I run setVel() for 3 seconds (using >> ArUtil::sleep(3000)), then I run move() and move() will work. If I just >> run move() alone, move() does not work. If I run some other commands >> before setDeltaHeading(), setDeltaHeading() will work. >> >> Another weird thing is, if I run setVel() for 1 seconds >> (ArUtil::sleep(1000)), the robot does not move. The following move() >> does not work either. Something is wrong. >> >> Xinwen Fu >> >> On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges > > wrote: >> >> >> >> >> Hi Xinwen, >> >> >> >> I was able to run this code using both MobileSim and a robot. In both >> cases the robot moved forward. The distance looked like it could be 400 mm >> though I didn't measure. >> >> >> >> Note that the move() call effectively cancels the effect of the setVel() >> call. If you remove the move() function call, then the robot will start >> moving forward at 200 mm/sec for one second, until the program terminates. >> With the move() call, a MOVE command is sent instead for the 400 mm >> distance. So if you only want the MOVE, you can remove the setVel() call. >> If you want to change the velocity at which the MOVE command operates, use >> setTransVelMax() instead. >> >> >> >> Do you know if you or anyone else has changed any of the P3DX's firmware >> parameters using ARCOScf? Do other program such as ARIA's 'demo' example >> work? >> >> >> >> Reed >> >> >> >> >> >> From: aria-users-bounces at lists.mobilerobots.com> aria-users-bounces at lists.mobilerobots.com> [mailto: >> aria-users-bounces at lists.mobilerobots.com> aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Xinwen Fu >> Sent: Saturday, October 30, 2010 12:44 AM >> To: ariausers >> Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via >> serial cable >> >> Dear All, >> >> I have the following code. It works on MobiSim, but does not work on P3-DX >> via serial cable. My P3DX has only sonar. When the code connects to the >> robot, the sonar begins to beep. However, the robot does not move at all. >> >> Any suggestion? >> >> ----------- code starts ---------- >> >> #include "Aria.h" >> >> int main(int argc, char** argv) >> { >> Aria::init(); >> ArArgumentParser parser(&argc, argv); >> parser.loadDefaultArguments(); >> ArRobot robot; >> ArRobotConnector robotConnector(&parser, &robot); >> >> if (!robotConnector.connectRobot( >> )) >> { >> if (!parser.checkHelpAndWarnUnparsed()) >> { >> ArLog::log(ArLog::Terse, "Could not connect to robot, will not have >> parameter file so options displayed later may not include everything"); >> } >> // otherwise abort >> else >> { >> ArLog::log(ArLog::Terse, "Error, could not connect to robot."); >> Aria::logOptions(); >> Aria::exit(1); >> } >> } >> >> if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) >> { >> Aria::logOptions(); >> exit(1); >> } >> >> ArSonarDevice sonarDev; >> >> ArKeyHandler keyHandler; >> Aria::setKeyHandler(&keyHandler); >> >> robot.attachKeyHandler(&keyHandler); >> printf("You may press escape to exit\n"); >> >> robot.addRangeDevice(&sonarDev); >> >> robot.runAsync(true); >> >> ArUtil::sleep(1000); >> >> robot.lock(); >> >> >> robot.comInt(ArCommands::ENABLE, 1); >> >> robot.setVel(200); >> robot.move(400); >> >> robot.unlock(); >> >> ArUtil::sleep(10000); >> >> Aria::exit(0); >> } >> >> >> ----------code ends ----- >> >> Thanks. >> >> David >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com> 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> aria-users-leave at lists.mobilerobots.com> >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/f7267f3b/attachment.html From Edouard.Ivanjko at fer.hr Wed Nov 10 11:31:31 2010 From: Edouard.Ivanjko at fer.hr (Edouard Ivanjko) Date: Wed, 10 Nov 2010 17:31:31 +0100 Subject: [Aria-users] ACTS usage Message-ID: Hello all, Is there a possibility to use the ACTS software with an USB camera? My first tests were unsuccessfull. Is this software compatible with USB framegrabers? Can you recommed some models? Best regards, IE -- _____________________________________________________________ Edouard Ivanjko, Ph.D.E.E. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb address: Unska 3 phone: +385 1 6129 713 10000 Zagreb fax: +385 1 6129 809 Croatia mailto: edouard.ivanjko at fer.hr Skype: eivanjko _____________________________________________________________ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/c631da52/attachment.html From Reed.Hedges at Adept.com Wed Nov 10 11:51:09 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Wed, 10 Nov 2010 08:51:09 -0800 Subject: [Aria-users] ACTS usage In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526E6D@SRV-APP-6.adept.local> If you are using Linux and the USB camera is able to provide a v4l (video for Linux) interface (/dev/videoX), then I think ACTS may be able to use it. ACTS may also be able to use it on Windows by specifying a vfw (VideoForWindows) framegrabber type. I'm not sure what device number it would be in that case though. I don't know of any specific USB framegrabber that works. Maybe other users on this list have used it? Are you going to be using color tracikng in ACTS with this camera, or are you just using ACTS as a software interface for reading the images? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Edouard Ivanjko Sent: Wednesday, November 10, 2010 11:32 AM To: ariausers Subject: [Aria-users] ACTS usage Hello all, Is there a possibility to use the ACTS software with an USB camera? My first tests were unsuccessfull. Is this software compatible with USB framegrabers? Can you recommed some models? Best regards, IE -- _____________________________________________________________ Edouard Ivanjko, Ph.D.E.E. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb address: Unska 3 phone: +385 1 6129 713 10000 Zagreb fax: +385 1 6129 809 Croatia mailto: edouard.ivanjko at fer.hr Skype: eivanjko _____________________________________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 12519 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/789ef97e/attachment-0001.bin From Edouard.Ivanjko at fer.hr Wed Nov 10 11:59:38 2010 From: Edouard.Ivanjko at fer.hr (Edouard Ivanjko) Date: Wed, 10 Nov 2010 17:59:38 +0100 Subject: [Aria-users] ACTS usage In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526E6D@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526E6D@SRV-APP-6.adept.local> Message-ID: Hello, I have an old application that's using ACTS as a software interface for reading the images. A server is collecting them and sends them further so I want the old setup. ACTS software enables me to choose between multiple installed USB cameras on my laptop but it can grab any images. It returns an error that it couldn't have opened the frame grabber. Do you have any other suggestions what I could do (except writing new code J )? Best regards, IE -- _____________________________________________________________ Edouard Ivanjko, Ph.D.E.E. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb address: Unska 3 phone: +385 1 6129 713 10000 Zagreb fax: +385 1 6129 809 Croatia mailto: edouard.ivanjko at fer.hr Skype: eivanjko _____________________________________________________________ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 5:51 PM To: ariausers Subject: RE: ACTS usage If you are using Linux and the USB camera is able to provide a v4l (video for Linux) interface (/dev/videoX), then I think ACTS may be able to use it. ACTS may also be able to use it on Windows by specifying a vfw (VideoForWindows) framegrabber type. I'm not sure what device number it would be in that case though. I don't know of any specific USB framegrabber that works. Maybe other users on this list have used it? Are you going to be using color tracikng in ACTS with this camera, or are you just using ACTS as a software interface for reading the images? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Edouard Ivanjko Sent: Wednesday, November 10, 2010 11:32 AM To: ariausers Subject: [Aria-users] ACTS usage Hello all, Is there a possibility to use the ACTS software with an USB camera? My first tests were unsuccessfull. Is this software compatible with USB framegrabers? Can you recommed some models? Best regards, IE -- _____________________________________________________________ Edouard Ivanjko, Ph.D.E.E. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb address: Unska 3 phone: +385 1 6129 713 10000 Zagreb fax: +385 1 6129 809 Croatia mailto: edouard.ivanjko at fer.hr Skype: eivanjko _____________________________________________________________ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/9365a53a/attachment.html From rapatrick1 at ualr.edu Wed Nov 10 20:03:30 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Wed, 10 Nov 2010 19:03:30 -0600 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local> Message-ID: okay I have removed the gcc2.95 from the Path variable and I did not see anything relevant using the alias command "gcc -v" now outputs "gcc version 3.4.1" "which gcc" outputs "/usr/local/bin/gcc" So I am assuming that gcc 3.4.1 is what came with Red Hat 9 and someone else installed 2.95 to run instead of that. After doing this, Aria 2.0 was able to run the examples; however when I installed Aria 2.7.1, I still ran into the same problem that I had before When I try to run examples it says /lib/libgcc_s.so.1: version 'GCC_3.3' not found (required by /usr/local/lib/libstdc++.so.6) I did a make clean and make of the usr/local/Aria and usr/local/Aria/ArNetworking and it made no difference. Do I specifically need gcc 3.3 or 4.x? When I tried to install 3.3 I had dependency problems. The red hat website says it uses yum, however I don't think it is on this system, possibly it was released before they added yum. Thanks, -Ryan On Wed, Nov 10, 2010 at 7:43 AM, Reed Hedges wrote: > > It looks like Red Hat 9. The version given by /proc/version (or uname) is > just the Linux kernel version and information about how the kernel was > compiled by Red Hat. > > If you run: > which g++ > and > alias > Then we can see what it's actually using for g++. > > You can run > /usr/bin/g++ --version > > To find out the normal system default. > > If you clear any appearance of a special GCC 2.95 directory from PATH and > clear any alias for g++ to a 2.95 (using the unalias command), then it > should use the normal system default. > > To look at the PATH variable: > echo $PATH > > To reset PATH to a new value: > export PATH=newvalue > > In PATH, each directory to seach for commands is separated by a colon (:). > > I would be surprised if 2.95 was the only version of GCC on the system, > though perhaps someone uninstalled the original 3.x version and replaced it > with 2.95. I believe you can see if a package is installed with a command > like this: > rpm -q gcc > rpm -q g++ > > RPM packages have dependencies (a tree of dependencies really), you will > need to install all of these to install a package. I think Red Hat 9 may > have a tool to automatically download and install these, but I am not that > familiar with Red Hat. Maybe yum? Other users know? > > Upgrading would be a good idea in general, I would recommend Debian 5 since > that is going to be the version we use in the near future (until a new > version of Debian comes out, stabilizes, and we test it.) However, > upgrading the OS may take some time, and so if you need this working soon, I > would just get it to use GCC 3.x. > > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick > Sent: Tuesday, November 09, 2010 5:59 PM > To: ariausers > Subject: Re: [Aria-users] Is it possible to upgrade the OS? > > Well I thought it was running on Red Hat 9, but a different command gave me > what seems like conflicting information. Here are the outputs. > > cat /etc/redhat-release > Red Hat Linux release 9 (Shrike) > > cat /proc/version > Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com bhcompile at stripples.devel.redhat.com>) (gcc version 3.2.2 20030222 (Red > Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 > > g++ -v > Reading specs from > /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs > gcc version 2.95.3 20010315 (release) > > If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would I > know or be able to remove it from the executable path? I don't see a gcc 3.3 > or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm it > required some other file to be installed that I was unable to install. I > think it was some version of libgcj. When I tried to install that, I was > told that I needed some other file to be installed. I think it would be > foolish for me to keep down that trail of downloading and installing > software the requires me to update more software, because I have no idea > when it will end. So I am just thinking that my OS is too old. Do I need to > upgrade it? how would I do that? > > > On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges Reed.Hedges at adept.com>> wrote: > > One question I should have asked in my prior email: > > Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long > time on Pioneer 2 onboard computers, but not 9. > _______________________________________________ > 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 aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/5eb0df01/attachment-0001.html From Reed.Hedges at Adept.com Thu Nov 11 07:03:48 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 11 Nov 2010 04:03:48 -0800 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local>, Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E9@SRV-APP-6.adept.local> Is /usr/local/lib in the LD_LIBRARY_PATH environment variable? I looks like you now are using 3.4 in /usr/local/bin You may have another version in /usr/bin, but 3.4 should work well with ARIA. (It is our default compiler for many platforms actually.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [rapatrick1 at ualr.edu] Sent: Wednesday, November 10, 2010 8:03 PM To: ariausers Subject: Re: [Aria-users] Is it possible to upgrade the OS? okay I have removed the gcc2.95 from the Path variable and I did not see anything relevant using the alias command "gcc -v" now outputs "gcc version 3.4.1" "which gcc" outputs "/usr/local/bin/gcc" So I am assuming that gcc 3.4.1 is what came with Red Hat 9 and someone else installed 2.95 to run instead of that. After doing this, Aria 2.0 was able to run the examples; however when I installed Aria 2.7.1, I still ran into the same problem that I had before When I try to run examples it says /lib/libgcc_s.so.1: version 'GCC_3.3' not found (required by /usr/local/lib/libstdc++.so.6) I did a make clean and make of the usr/local/Aria and usr/local/Aria/ArNetworking and it made no difference. Do I specifically need gcc 3.3 or 4.x? When I tried to install 3.3 I had dependency problems. The red hat website says it uses yum, however I don't think it is on this system, possibly it was released before they added yum. Thanks, -Ryan On Wed, Nov 10, 2010 at 7:43 AM, Reed Hedges > wrote: It looks like Red Hat 9. The version given by /proc/version (or uname) is just the Linux kernel version and information about how the kernel was compiled by Red Hat. If you run: which g++ and alias Then we can see what it's actually using for g++. You can run /usr/bin/g++ --version To find out the normal system default. If you clear any appearance of a special GCC 2.95 directory from PATH and clear any alias for g++ to a 2.95 (using the unalias command), then it should use the normal system default. To look at the PATH variable: echo $PATH To reset PATH to a new value: export PATH=newvalue In PATH, each directory to seach for commands is separated by a colon (:). I would be surprised if 2.95 was the only version of GCC on the system, though perhaps someone uninstalled the original 3.x version and replaced it with 2.95. I believe you can see if a package is installed with a command like this: rpm -q gcc rpm -q g++ RPM packages have dependencies (a tree of dependencies really), you will need to install all of these to install a package. I think Red Hat 9 may have a tool to automatically download and install these, but I am not that familiar with Red Hat. Maybe yum? Other users know? Upgrading would be a good idea in general, I would recommend Debian 5 since that is going to be the version we use in the near future (until a new version of Debian comes out, stabilizes, and we test it.) However, upgrading the OS may take some time, and so if you need this working soon, I would just get it to use GCC 3.x. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick Sent: Tuesday, November 09, 2010 5:59 PM To: ariausers Subject: Re: [Aria-users] Is it possible to upgrade the OS? Well I thought it was running on Red Hat 9, but a different command gave me what seems like conflicting information. Here are the outputs. cat /etc/redhat-release Red Hat Linux release 9 (Shrike) cat /proc/version Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com>) (gcc version 3.2.2 20030222 (Red Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 g++ -v Reading specs from /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs gcc version 2.95.3 20010315 (release) If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would I know or be able to remove it from the executable path? I don't see a gcc 3.3 or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm it required some other file to be installed that I was unable to install. I think it was some version of libgcj. When I tried to install that, I was told that I needed some other file to be installed. I think it would be foolish for me to keep down that trail of downloading and installing software the requires me to update more software, because I have no idea when it will end. So I am just thinking that my OS is too old. Do I need to upgrade it? how would I do that? On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges >> wrote: One question I should have asked in my prior email: Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long time on Pioneer 2 onboard computers, but not 9. _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com> http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com> Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 6787 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/7f665bd5/attachment.bin From awantha at ieee.org Thu Nov 11 15:23:58 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Thu, 11 Nov 2010 12:23:58 -0800 (PST) Subject: [Aria-users] Software reinstallation issue on robot's onboard computer In-Reply-To: References: Message-ID: <57687.38348.qm@web120107.mail.ne1.yahoo.com> Hi Reed, I was able to build the GCC 3.4.6 compiler and reinstall ARIA 2.7.2 to the robot's on board computer with red hat linux 7.3. I have done some testings and seems like its working correctly. Thank you very much for your suggestions. However, the robot's laser range finder doesn't look like working. The "wander" program tries to connect to laser but not successful. Following is the error msg: lms2XX_1: waiting for laser to power on Arlms2XX Packet Receiver:: receive packet: wrong address (0X0 instead of 0X80) lms2XX:Failed to connect to laser, no power on received. I already powered on the laser (it makes a red light then green the stop with above error). After quiting the program connect to the sonar and it works fine with sonar. Do I have to specially configure the laser? if so how should I do that? Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Wed, November 10, 2010 10:56:19 AM Subject: Aria-users Digest, Vol 31, Issue 7 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Reed Hedges) 2. Re: Code works on MobiSim, but does not on P3-DX via serial cable (Xinwen Fu) ---------------------------------------------------------------------- Message: 1 Date: Wed, 10 Nov 2010 05:56:45 -0800 From: Reed Hedges Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment-0001.bin ------------------------------ Message: 2 Date: Wed, 10 Nov 2010 09:26:15 -0500 From: Xinwen Fu Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" Message-ID: Content-Type: text/plain; charset="iso-8859-1" Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com> [mailto: > aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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 aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 7 ***************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/2096b575/attachment-0001.html From Zeb.Dahl at Adept.com Thu Nov 11 15:41:41 2010 From: Zeb.Dahl at Adept.com (Zeb Dahl) Date: Thu, 11 Nov 2010 12:41:41 -0800 Subject: [Aria-users] Software reinstallation issue on robot's onboard computer In-Reply-To: <57687.38348.qm@web120107.mail.ne1.yahoo.com> References: <57687.38348.qm@web120107.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E527122@SRV-APP-6.adept.local> Hello, You probably need to set the IRQ used for the serial port in the OS so that it agrees with the BIOS setting. See http://robots.mobilerobots.com/wiki/Computer_Serial_Port_Configuration for information on setting this up correctly. Best, Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Thursday, November 11, 2010 3:24 PM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed, I was able to build the GCC 3.4.6 compiler and reinstall ARIA 2.7.2 to the robot's on board computer with red hat linux 7.3. I have done some testings and seems like its working correctly. Thank you very much for your suggestions. However, the robot's laser range finder doesn't look like working. The "wander" program tries to connect to laser but not successful. Following is the error msg: lms2XX_1: waiting for laser to power on Arlms2XX Packet Receiver:: receive packet: wrong address (0X0 instead of 0X80) lms2XX:Failed to connect to laser, no power on received. I already powered on the laser (it makes a red light then green the stop with above error). After quiting the program connect to the sonar and it works fine with sonar. Do I have to specially configure the laser? if so how should I do that? Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Wed, November 10, 2010 10:56:19 AM Subject: Aria-users Digest, Vol 31, Issue 7 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Reed Hedges) 2. Re: Code works on MobiSim, but does not on P3-DX via serial cable (Xinwen Fu) ---------------------------------------------------------------------- Message: 1 Date: Wed, 10 Nov 2010 05:56:45 -0800 From: Reed Hedges > Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment-0001.bin ------------------------------ Message: 2 Date: Wed, 10 Nov 2010 09:26:15 -0500 From: Xinwen Fu > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges > wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com> [mailto: > aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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 aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 7 ***************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/c7c4e83f/attachment-0001.html From awantha at ieee.org Thu Nov 11 18:35:29 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Thu, 11 Nov 2010 15:35:29 -0800 (PST) Subject: [Aria-users] Aria-users Digest, Vol 31, Issue 11 In-Reply-To: References: Message-ID: <622657.40895.qm@web120101.mail.ne1.yahoo.com> Hi Zeb, Yeah, it works fine now. It connects to laser without any problem. Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Thu, November 11, 2010 5:13:14 PM Subject: Aria-users Digest, Vol 31, Issue 11 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Zeb Dahl) ---------------------------------------------------------------------- Message: 1 Date: Thu, 11 Nov 2010 12:41:41 -0800 From: Zeb Dahl Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E527122 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" Hello, You probably need to set the IRQ used for the serial port in the OS so that it agrees with the BIOS setting. See http://robots.mobilerobots.com/wiki/Computer_Serial_Port_Configuration for information on setting this up correctly. Best, Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Thursday, November 11, 2010 3:24 PM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed, I was able to build the GCC 3.4.6 compiler and reinstall ARIA 2.7.2 to the robot's on board computer with red hat linux 7.3. I have done some testings and seems like its working correctly. Thank you very much for your suggestions. However, the robot's laser range finder doesn't look like working. The "wander" program tries to connect to laser but not successful. Following is the error msg: lms2XX_1: waiting for laser to power on Arlms2XX Packet Receiver:: receive packet: wrong address (0X0 instead of 0X80) lms2XX:Failed to connect to laser, no power on received. I already powered on the laser (it makes a red light then green the stop with above error). After quiting the program connect to the sonar and it works fine with sonar. Do I have to specially configure the laser? if so how should I do that? Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Wed, November 10, 2010 10:56:19 AM Subject: Aria-users Digest, Vol 31, Issue 7 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Reed Hedges) 2. Re: Code works on MobiSim, but does not on P3-DX via serial cable (Xinwen Fu) ---------------------------------------------------------------------- Message: 1 Date: Wed, 10 Nov 2010 05:56:45 -0800 From: Reed Hedges > Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment-0001.bin ------------------------------ Message: 2 Date: Wed, 10 Nov 2010 09:26:15 -0500 From: Xinwen Fu > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges > wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: >aria-users-bounces at lists.mobilerobots.com > [mailto: >aria-users-bounces at lists.mobilerobots.com] >] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges > Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: >aria-users-bounces at lists.mobilerobots.com >aria-users-bounces at lists.mobilerobots.com> >> [mailto: >aria-users-bounces at lists.mobilerobots.com: >aria-users-bounces at lists.mobilerobots.com>] >] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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: >aria-users-leave at lists.mobilerobots.com> >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > >aria-users-leave at lists.mobilerobots.com >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 7 ***************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/c7c4e83f/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 11 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/0edd0123/attachment-0001.html From rapatrick1 at ualr.edu Fri Nov 12 17:12:33 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Fri, 12 Nov 2010 16:12:33 -0600 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E9@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E9@SRV-APP-6.adept.local> Message-ID: Ah yes i added /usr/local/lib to LD_LIBRARY_PATH and now the examples work with Aria 2.7.1 /thread Thanks so much for the help, -Ryan On Thu, Nov 11, 2010 at 6:03 AM, Reed Hedges wrote: > > Is /usr/local/lib in the LD_LIBRARY_PATH environment variable? > > I looks like you now are using 3.4 in /usr/local/bin > > You may have another version in /usr/bin, but 3.4 should work well with > ARIA. (It is our default compiler for many platforms actually.) > > > > -- > Reed Hedges > Research Support and Software > Adept Technology Inc. - Mobile Robots > reed.hedges at adept.com > > http://www.mobilerobots.com - http://www.adept.com > > For documentation and support, visit http://robots.mobilerobots.com > ________________________________________ > From: aria-users-bounces at lists.mobilerobots.com [ > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [ > rapatrick1 at ualr.edu] > Sent: Wednesday, November 10, 2010 8:03 PM > To: ariausers > Subject: Re: [Aria-users] Is it possible to upgrade the OS? > > okay I have removed the gcc2.95 from the Path variable and I did not see > anything relevant using the alias command > > "gcc -v" now outputs "gcc version 3.4.1" > > "which gcc" outputs "/usr/local/bin/gcc" > > So I am assuming that gcc 3.4.1 is what came with Red Hat 9 and someone > else installed 2.95 to run instead of that. After doing this, Aria 2.0 was > able to run the examples; however when I installed Aria 2.7.1, I still ran > into the same problem that I had before > > When I try to run examples it says > > /lib/libgcc_s.so.1: version 'GCC_3.3' not found (required by > /usr/local/lib/libstdc++.so.6) > > I did a make clean and make of the usr/local/Aria and > usr/local/Aria/ArNetworking and it made no difference. > > Do I specifically need gcc 3.3 or 4.x? When I tried to install 3.3 I had > dependency problems. The red hat website says it uses yum, however I don't > think it is on this system, possibly it was released before they added yum. > > Thanks, > -Ryan > > > On Wed, Nov 10, 2010 at 7:43 AM, Reed Hedges > wrote: > > It looks like Red Hat 9. The version given by /proc/version (or uname) is > just the Linux kernel version and information about how the kernel was > compiled by Red Hat. > > If you run: > which g++ > and > alias > Then we can see what it's actually using for g++. > > You can run > /usr/bin/g++ --version > > To find out the normal system default. > > If you clear any appearance of a special GCC 2.95 directory from PATH and > clear any alias for g++ to a 2.95 (using the unalias command), then it > should use the normal system default. > > To look at the PATH variable: > echo $PATH > > To reset PATH to a new value: > export PATH=newvalue > > In PATH, each directory to seach for commands is separated by a colon (:). > > I would be surprised if 2.95 was the only version of GCC on the system, > though perhaps someone uninstalled the original 3.x version and replaced it > with 2.95. I believe you can see if a package is installed with a command > like this: > rpm -q gcc > rpm -q g++ > > RPM packages have dependencies (a tree of dependencies really), you will > need to install all of these to install a package. I think Red Hat 9 may > have a tool to automatically download and install these, but I am not that > familiar with Red Hat. Maybe yum? Other users know? > > Upgrading would be a good idea in general, I would recommend Debian 5 since > that is going to be the version we use in the near future (until a new > version of Debian comes out, stabilizes, and we test it.) However, > upgrading the OS may take some time, and so if you need this working soon, I > would just get it to use GCC 3.x. > > > > From: aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com> [mailto: > aria-users-bounces at lists.mobilerobots.com aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Ryan Patrick > Sent: Tuesday, November 09, 2010 5:59 PM > To: ariausers > Subject: Re: [Aria-users] Is it possible to upgrade the OS? > > Well I thought it was running on Red Hat 9, but a different command gave me > what seems like conflicting information. Here are the outputs. > > cat /etc/redhat-release > Red Hat Linux release 9 (Shrike) > > cat /proc/version > Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com bhcompile at stripples.devel.redhat.com> bhcompile at stripples.devel.redhat.com bhcompile at stripples.devel.redhat.com>>) (gcc version 3.2.2 20030222 (Red > Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 > > g++ -v > Reading specs from > /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs > gcc version 2.95.3 20010315 (release) > > If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would I > know or be able to remove it from the executable path? I don't see a gcc 3.3 > or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm it > required some other file to be installed that I was unable to install. I > think it was some version of libgcj. When I tried to install that, I was > told that I needed some other file to be installed. I think it would be > foolish for me to keep down that trail of downloading and installing > software the requires me to update more software, because I have no idea > when it will end. So I am just thinking that my OS is too old. Do I need to > upgrade it? how would I do that? > > > On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges Reed.Hedges at adept.com> Reed.Hedges at adept.com>>> wrote: > > One question I should have asked in my prior email: > > Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long > time on Pioneer 2 onboard computers, but not 9. > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > 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 aria-users-leave at lists.mobilerobots.com> aria-users-leave at lists.mobilerobots.com aria-users-leave at lists.mobilerobots.com>> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com aria-users-leave at lists.mobilerobots.com> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101112/627b0c58/attachment.html From rapatrick1 at ualr.edu Fri Nov 12 18:56:28 2010 From: rapatrick1 at ualr.edu (Ryan Patrick) Date: Fri, 12 Nov 2010 17:56:28 -0600 Subject: [Aria-users] Is it possible to upgrade the OS? In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DE@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62DF@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD0@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62E9@SRV-APP-6.adept.local> Message-ID: Well I take that back, demo worked, however when I tried to compile anything I got a ton of undefined references like demo.cpp:(.text+0x8cd): undefined reference to 'ArModeBumps::~ArModeBumps(void)' and /usr/local/Aria/lib/libAria.so: undefined reference to 'std::string::operator=(std::string const&)' I checked $PATH and I guess it reset itself back to including the directory for gcc2.95 so I removed that part again. My current situation is that the examples will compile, however when I try to run them I get this message "./wander: /lib/libgcc_s.so.1: version 'GCC_3.3' not found (required by /usr/local/lib/libstdc++.so.6)" my LD_LIBRARY_PATH variable when echoed gives usr/local/lib echo of PATH gives /usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/usr/X11R6/bin:/root/bin rpm -q gcc gives gcc-3.2.2-5 gcc -v gives Reading specs from /usr/local/lib/gcc/i586-pc-linux-gnu/3.4.1/specs Configured with: ../configure Thread model: posix gcc version 3.4.1 which gcc gives /usr/local I would be willing to upgrade to Debian 5, however I don't know how to install it given that there are no drives or ports on the robot. Also I don't know if there is enough memory. free -t -m says that there is 123 MB of total memory while the .iso for Debian 5 is 180MB Thank you very much for sticking with me on this, -Ryan On Fri, Nov 12, 2010 at 4:12 PM, Ryan Patrick wrote: > Ah yes i added /usr/local/lib to LD_LIBRARY_PATH and now the examples work > with Aria 2.7.1 > > /thread > > Thanks so much for the help, > -Ryan > > > On Thu, Nov 11, 2010 at 6:03 AM, Reed Hedges wrote: > >> >> Is /usr/local/lib in the LD_LIBRARY_PATH environment variable? >> >> I looks like you now are using 3.4 in /usr/local/bin >> >> You may have another version in /usr/bin, but 3.4 should work well with >> ARIA. (It is our default compiler for many platforms actually.) >> >> >> >> -- >> Reed Hedges >> Research Support and Software >> Adept Technology Inc. - Mobile Robots >> reed.hedges at adept.com >> >> http://www.mobilerobots.com - http://www.adept.com >> >> For documentation and support, visit http://robots.mobilerobots.com >> ________________________________________ >> From: aria-users-bounces at lists.mobilerobots.com [ >> aria-users-bounces at lists.mobilerobots.com] On Behalf Of Ryan Patrick [ >> rapatrick1 at ualr.edu] >> Sent: Wednesday, November 10, 2010 8:03 PM >> To: ariausers >> Subject: Re: [Aria-users] Is it possible to upgrade the OS? >> >> okay I have removed the gcc2.95 from the Path variable and I did not see >> anything relevant using the alias command >> >> "gcc -v" now outputs "gcc version 3.4.1" >> >> "which gcc" outputs "/usr/local/bin/gcc" >> >> So I am assuming that gcc 3.4.1 is what came with Red Hat 9 and someone >> else installed 2.95 to run instead of that. After doing this, Aria 2.0 was >> able to run the examples; however when I installed Aria 2.7.1, I still ran >> into the same problem that I had before >> >> When I try to run examples it says >> >> /lib/libgcc_s.so.1: version 'GCC_3.3' not found (required by >> /usr/local/lib/libstdc++.so.6) >> >> I did a make clean and make of the usr/local/Aria and >> usr/local/Aria/ArNetworking and it made no difference. >> >> Do I specifically need gcc 3.3 or 4.x? When I tried to install 3.3 I had >> dependency problems. The red hat website says it uses yum, however I don't >> think it is on this system, possibly it was released before they added yum. >> >> Thanks, >> -Ryan >> >> >> On Wed, Nov 10, 2010 at 7:43 AM, Reed Hedges > > wrote: >> >> It looks like Red Hat 9. The version given by /proc/version (or uname) is >> just the Linux kernel version and information about how the kernel was >> compiled by Red Hat. >> >> If you run: >> which g++ >> and >> alias >> Then we can see what it's actually using for g++. >> >> You can run >> /usr/bin/g++ --version >> >> To find out the normal system default. >> >> If you clear any appearance of a special GCC 2.95 directory from PATH and >> clear any alias for g++ to a 2.95 (using the unalias command), then it >> should use the normal system default. >> >> To look at the PATH variable: >> echo $PATH >> >> To reset PATH to a new value: >> export PATH=newvalue >> >> In PATH, each directory to seach for commands is separated by a colon (:). >> >> I would be surprised if 2.95 was the only version of GCC on the system, >> though perhaps someone uninstalled the original 3.x version and replaced it >> with 2.95. I believe you can see if a package is installed with a command >> like this: >> rpm -q gcc >> rpm -q g++ >> >> RPM packages have dependencies (a tree of dependencies really), you will >> need to install all of these to install a package. I think Red Hat 9 may >> have a tool to automatically download and install these, but I am not that >> familiar with Red Hat. Maybe yum? Other users know? >> >> Upgrading would be a good idea in general, I would recommend Debian 5 >> since that is going to be the version we use in the near future (until a new >> version of Debian comes out, stabilizes, and we test it.) However, >> upgrading the OS may take some time, and so if you need this working soon, I >> would just get it to use GCC 3.x. >> >> >> >> From: aria-users-bounces at lists.mobilerobots.com> aria-users-bounces at lists.mobilerobots.com> [mailto: >> aria-users-bounces at lists.mobilerobots.com> aria-users-bounces at lists.mobilerobots.com>] On Behalf Of Ryan Patrick >> Sent: Tuesday, November 09, 2010 5:59 PM >> To: ariausers >> Subject: Re: [Aria-users] Is it possible to upgrade the OS? >> >> Well I thought it was running on Red Hat 9, but a different command gave >> me what seems like conflicting information. Here are the outputs. >> >> cat /etc/redhat-release >> Red Hat Linux release 9 (Shrike) >> >> cat /proc/version >> Linux version 2.4.20-8 (bhcompile at stripples.devel.redhat.com> bhcompile at stripples.devel.redhat.com>> bhcompile at stripples.devel.redhat.com> bhcompile at stripples.devel.redhat.com>>) (gcc version 3.2.2 20030222 (Red >> Hat Linux 3.2.2-5)) #1 Thu Mar 13 16:42:56 EST 2003 >> >> g++ -v >> Reading specs from >> /usr/local/gcc-2.95.3/lib/gcc-lib/i586-pc-linux-gnu/2.95.3/specs >> gcc version 2.95.3 20010315 (release) >> >> If I have gcc 3.3 or higher and someone downgraded to gcc 2.95, how would >> I know or be able to remove it from the executable path? I don't see a gcc >> 3.3 or 3.4 anywhere on the hard drive. When I tried to install a gcc-3.3.rpm >> it required some other file to be installed that I was unable to install. I >> think it was some version of libgcj. When I tried to install that, I was >> told that I needed some other file to be installed. I think it would be >> foolish for me to keep down that trail of downloading and installing >> software the requires me to update more software, because I have no idea >> when it will end. So I am just thinking that my OS is too old. Do I need to >> upgrade it? how would I do that? >> >> >> On Tue, Nov 9, 2010 at 7:41 AM, Reed Hedges > > Reed.Hedges at adept.com>>> wrote: >> >> One question I should have asked in my prior email: >> >> Is it running Red Hat 9, or Red Hat 7? We provided Red Hat 7 for a long >> time on Pioneer 2 onboard computers, but not 9. >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com> Aria-users at lists.mobilerobots.com>> Aria-users at lists.mobilerobots.com> 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> aria-users-leave at lists.mobilerobots.com>> aria-users-leave at lists.mobilerobots.com> aria-users-leave at lists.mobilerobots.com>> >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com> 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> aria-users-leave at lists.mobilerobots.com> >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> >> >> _______________________________________________ >> Aria-users mailing list >> Aria-users at lists.mobilerobots.com >> http://lists.mobilerobots.com/mailman/listinfo/aria-users >> >> To unsubscribe visit the above webpage or send an e-mail to: >> >> aria-users-leave at lists.mobilerobots.com >> >> Visit http://robots.mobilerobots.com for information including >> documentation, FAQ, tips, manuals, and software, firmware and driver >> downloads. >> >> Mailing list archives are at http://lists.mobilerobots.com/ >> >> > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101112/8d9b4c13/attachment-0001.html From awantha at ieee.org Sun Nov 14 21:17:03 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Sun, 14 Nov 2010 18:17:03 -0800 (PST) Subject: [Aria-users] Aria-users Digest, Vol 31, Issue 11 In-Reply-To: References: Message-ID: <794707.23402.qm@web120120.mail.ne1.yahoo.com> Hi I have installed the red hat 7.3 O/S , GCC 3.4.6 and Aria 2.7.2 in the robot's onboard computer and seems like the system working fine as I mentioned in previous posts. However, I have a problem of getting the wireless card to working. It has Cisco aironet 350 wireless PCMCIA card and its being recognized by the system. Could anybody let me know the step by step procedures to configure the card and get it to working level. I have tried some online resources but no luck yet. Any help is highly appreciated. Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Thu, November 11, 2010 5:13:14 PM Subject: Aria-users Digest, Vol 31, Issue 11 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Zeb Dahl) ---------------------------------------------------------------------- Message: 1 Date: Thu, 11 Nov 2010 12:41:41 -0800 From: Zeb Dahl Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E527122 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" Hello, You probably need to set the IRQ used for the serial port in the OS so that it agrees with the BIOS setting. See http://robots.mobilerobots.com/wiki/Computer_Serial_Port_Configuration for information on setting this up correctly. Best, Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Thursday, November 11, 2010 3:24 PM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed, I was able to build the GCC 3.4.6 compiler and reinstall ARIA 2.7.2 to the robot's on board computer with red hat linux 7.3. I have done some testings and seems like its working correctly. Thank you very much for your suggestions. However, the robot's laser range finder doesn't look like working. The "wander" program tries to connect to laser but not successful. Following is the error msg: lms2XX_1: waiting for laser to power on Arlms2XX Packet Receiver:: receive packet: wrong address (0X0 instead of 0X80) lms2XX:Failed to connect to laser, no power on received. I already powered on the laser (it makes a red light then green the stop with above error). After quiting the program connect to the sonar and it works fine with sonar. Do I have to specially configure the laser? if so how should I do that? Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Wed, November 10, 2010 10:56:19 AM Subject: Aria-users Digest, Vol 31, Issue 7 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Reed Hedges) 2. Re: Code works on MobiSim, but does not on P3-DX via serial cable (Xinwen Fu) ---------------------------------------------------------------------- Message: 1 Date: Wed, 10 Nov 2010 05:56:45 -0800 From: Reed Hedges > Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment-0001.bin ------------------------------ Message: 2 Date: Wed, 10 Nov 2010 09:26:15 -0500 From: Xinwen Fu > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges > wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: >aria-users-bounces at lists.mobilerobots.com > [mailto: >aria-users-bounces at lists.mobilerobots.com] >] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges > Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: >aria-users-bounces at lists.mobilerobots.com >aria-users-bounces at lists.mobilerobots.com> >> [mailto: >aria-users-bounces at lists.mobilerobots.com: >aria-users-bounces at lists.mobilerobots.com>] >] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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: >aria-users-leave at lists.mobilerobots.com> >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > >aria-users-leave at lists.mobilerobots.com >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 7 ***************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/c7c4e83f/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 11 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101114/eec6a512/attachment-0001.html From awantha at ieee.org Mon Nov 15 14:45:14 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Mon, 15 Nov 2010 11:45:14 -0800 (PST) Subject: [Aria-users] Aria-users Digest, Vol 31, Issue 14 In-Reply-To: References: Message-ID: <2515.18392.qm@web120120.mail.ne1.yahoo.com> Ok. I guess I figured out it by my self. I used the Cisco ACU utility. Its (online) documentation gives enough information on how to configure it accurately. Thanks Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Sun, November 14, 2010 10:47:06 PM Subject: Aria-users Digest, Vol 31, Issue 14 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Aria-users Digest, Vol 31, Issue 11 (Awantha Jayasiri) ---------------------------------------------------------------------- Message: 1 Date: Sun, 14 Nov 2010 18:17:03 -0800 (PST) From: Awantha Jayasiri Subject: Re: [Aria-users] Aria-users Digest, Vol 31, Issue 11 To: aria-users at lists.mobilerobots.com Message-ID: <794707.23402.qm at web120120.mail.ne1.yahoo.com> Content-Type: text/plain; charset="us-ascii" Hi I have installed the red hat 7.3 O/S , GCC 3.4.6 and Aria 2.7.2 in the robot's onboard computer and seems like the system working fine as I mentioned in previous posts. However, I have a problem of getting the wireless card to working. It has Cisco aironet 350 wireless PCMCIA card and its being recognized by the system. Could anybody let me know the step by step procedures to configure the card and get it to working level. I have tried some online resources but no luck yet. Any help is highly appreciated. Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Thu, November 11, 2010 5:13:14 PM Subject: Aria-users Digest, Vol 31, Issue 11 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Zeb Dahl) ---------------------------------------------------------------------- Message: 1 Date: Thu, 11 Nov 2010 12:41:41 -0800 From: Zeb Dahl Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E527122 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" Hello, You probably need to set the IRQ used for the serial port in the OS so that it agrees with the BIOS setting. See http://robots.mobilerobots.com/wiki/Computer_Serial_Port_Configuration for information on setting this up correctly. Best, Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Thursday, November 11, 2010 3:24 PM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed, I was able to build the GCC 3.4.6 compiler and reinstall ARIA 2.7.2 to the robot's on board computer with red hat linux 7.3. I have done some testings and seems like its working correctly. Thank you very much for your suggestions. However, the robot's laser range finder doesn't look like working. The "wander" program tries to connect to laser but not successful. Following is the error msg: lms2XX_1: waiting for laser to power on Arlms2XX Packet Receiver:: receive packet: wrong address (0X0 instead of 0X80) lms2XX:Failed to connect to laser, no power on received. I already powered on the laser (it makes a red light then green the stop with above error). After quiting the program connect to the sonar and it works fine with sonar. Do I have to specially configure the laser? if so how should I do that? Thank you very much. Regards Awantha ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Wed, November 10, 2010 10:56:19 AM Subject: Aria-users Digest, Vol 31, Issue 7 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Software reinstallation issue on robot's onboard computer (Reed Hedges) 2. Re: Code works on MobiSim, but does not on P3-DX via serial cable (Xinwen Fu) ---------------------------------------------------------------------- Message: 1 Date: Wed, 10 Nov 2010 05:56:45 -0800 From: Reed Hedges > Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E526DD9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" The actual download location for gcc 3.4 is ftp://aeneas.mit.edu/pub/gnu/gcc/gcc-3.4.6/ From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Reed Hedges Sent: Wednesday, November 10, 2010 8:30 AM To: ariausers Subject: Re: [Aria-users] Software reinstallation issue on robot's onboard computer I would use GCC 3.4. We provide it in /usr/local/gcc-3.4.1, so if /usr/local/gcc-3.4.1/bin is in the path it will use that version. You can download GCC 3.4.6 from http://gcc.gnu.org/gcc-3.4/ . Follow its build instructions carefully. It will take time to build. You can have it install into /usr/local, then just make sure that /usr/local/bin is in your PATH environment variable and /usr/local/lib appears in /etc/ld.so.conf. For future work, you could upgrade the whole system, e.g. to Debian 5.0. However, using GCC 3.4 on RedHat 7 now will let you work with ARIA 2.1.1 (or later versions) sooner; upgrading the whole OS could take more of your time to finish. The parameters for the p3at-sh robot type are available in later versions of ARIA (2.2+). (The -sh version didn't exist at 2.1.1, so it doesn't have them.) You can either upgrade ARIA, or just grab the params/p3at-sh.p file from a later release and copy it into the params directory for ARIA 2.1 (/usr/local/Aria/params). From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] ] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 09, 2010 9:00 PM To: ariausers Subject: [Aria-users] Software reinstallation issue on robot's onboard computer Hi Reed Thanks for the prompt reply. The operating system of robot's on board computer is Red Hat Linux 7.3. Aria version 2.1.1. The OS built in GCC is 2.96. Should I have to upgrade the compiler to 3.4.1 and recompile it.? The next question is should I install the real-time kernel of the O/S to the robot? The complete msg is as follows "Could not connect to simulator, connecting to robot through serial port /dev/tty S0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: P3-AT Type: Pioneer Subtype: p3at-sh Error: Have no parameters for this robot." I was testing "wander" program and seems its not performing well. The teleop program also seems like doesn't respond to up arrow key. Any heal is highly appreciated. Thanks Awantha ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 14131 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/21833bd5/attachment-0001.bin ------------------------------ Message: 2 Date: Wed, 10 Nov 2010 09:26:15 -0500 From: Xinwen Fu > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Model: P3-DX Serial number: GMC_3720 I can provide you a collection to the robot if you like it. Thanks. Xinwen Fu On Wed, Nov 10, 2010 at 8:34 AM, Reed Hedges > wrote: > > Can you send me the serial number of your robot so I can look up exactly > what it is? Also, do you know if you or anyone has upgraded the firmware > at any point? > > The firmware configuration tool will print out the firmware version. > > > From: >aria-users-bounces at lists.mobilerobots.com > > [mailto: >aria-users-bounces at lists.mobilerobots.com] > >] On Behalf Of Xinwen Fu > Sent: Tuesday, November 09, 2010 6:09 PM > To: ariausers > Subject: Re: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > The robot is weird. > > It seems that the use of move() and setDeltaHeading() depends on running > other commands. For example, if I run setVel() for 3 seconds (using > ArUtil::sleep(3000)), then I run move() and move() will work. If I just > run move() alone, move() does not work. If I run some other commands > before setDeltaHeading(), setDeltaHeading() will work. > > Another weird thing is, if I run setVel() for 1 seconds > (ArUtil::sleep(1000)), the robot does not move. The following move() > does not work either. Something is wrong. > > Xinwen Fu > > On Fri, Nov 5, 2010 at 5:04 PM, Reed Hedges > Reed.Hedges at adept.com>> wrote: > > > > > Hi Xinwen, > > > > I was able to run this code using both MobileSim and a robot. In both > cases the robot moved forward. The distance looked like it could be 400 mm > though I didn't measure. > > > > Note that the move() call effectively cancels the effect of the setVel() > call. If you remove the move() function call, then the robot will start > moving forward at 200 mm/sec for one second, until the program terminates. > With the move() call, a MOVE command is sent instead for the 400 mm > distance. So if you only want the MOVE, you can remove the setVel() call. > If you want to change the velocity at which the MOVE command operates, use > setTransVelMax() instead. > > > > Do you know if you or anyone else has changed any of the P3DX's firmware > parameters using ARCOScf? Do other program such as ARIA's 'demo' example > work? > > > > Reed > > > > > > From: >aria-users-bounces at lists.mobilerobots.com > >aria-users-bounces at lists.mobilerobots.com> > >> [mailto: >aria-users-bounces at lists.mobilerobots.com >: >aria-users-bounces at lists.mobilerobots.com>] > >] On Behalf Of Xinwen Fu > Sent: Saturday, October 30, 2010 12:44 AM > To: ariausers > Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via > serial cable > > Dear All, > > I have the following code. It works on MobiSim, but does not work on P3-DX > via serial cable. My P3DX has only sonar. When the code connects to the > robot, the sonar begins to beep. However, the robot does not move at all. > > Any suggestion? > > ----------- code starts ---------- > > #include "Aria.h" > > int main(int argc, char** argv) > { > Aria::init(); > ArArgumentParser parser(&argc, argv); > parser.loadDefaultArguments(); > ArRobot robot; > ArRobotConnector robotConnector(&parser, &robot); > > if (!robotConnector.connectRobot( > )) > { > if (!parser.checkHelpAndWarnUnparsed()) > { > ArLog::log(ArLog::Terse, "Could not connect to robot, will not have > parameter file so options displayed later may not include everything"); > } > // otherwise abort > else > { > ArLog::log(ArLog::Terse, "Error, could not connect to robot."); > Aria::logOptions(); > Aria::exit(1); > } > } > > if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed()) > { > Aria::logOptions(); > exit(1); > } > > ArSonarDevice sonarDev; > > ArKeyHandler keyHandler; > Aria::setKeyHandler(&keyHandler); > > robot.attachKeyHandler(&keyHandler); > printf("You may press escape to exit\n"); > > robot.addRangeDevice(&sonarDev); > > robot.runAsync(true); > > ArUtil::sleep(1000); > > robot.lock(); > > > robot.comInt(ArCommands::ENABLE, 1); > > robot.setVel(200); > robot.move(400); > > robot.unlock(); > > ArUtil::sleep(10000); > > Aria::exit(0); > } > > > ----------code ends ----- > > Thanks. > > David > > _______________________________________________ > 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 >: >aria-users-leave at lists.mobilerobots.com> > >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > >aria-users-leave at lists.mobilerobots.com > >> > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > > -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101110/d909e701/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 7 ***************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101111/c7c4e83f/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 11 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101114/eec6a512/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 14 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101115/58bb6d1f/attachment-0001.html From awantha at ieee.org Tue Nov 16 21:18:54 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Tue, 16 Nov 2010 18:18:54 -0800 (PST) Subject: [Aria-users] Pioneer 3 At mobile robot joystick responce Message-ID: <345779.20380.qm@web120118.mail.ne1.yahoo.com> Hi My pioneer 3AT mobile robot has recently installed red hat 7.3 , GCC 3.4.6 and Aria 2.7.2. Everything seems like working fine except the joystick. Although I connected it to the port behind the Sick laser (this port is connected to motherboard) it does not recognize the joystick. I need to run programs like Sicklogger and have to use joystick. Any help for getting the joystick working is highly appreciated. Thank you very much. Regards Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101116/67dc534f/attachment.html From Zeb.Dahl at Adept.com Wed Nov 17 17:02:01 2010 From: Zeb.Dahl at Adept.com (Zeb Dahl) Date: Wed, 17 Nov 2010 14:02:01 -0800 Subject: [Aria-users] Pioneer 3 At mobile robot joystick responce In-Reply-To: <345779.20380.qm@web120118.mail.ne1.yahoo.com> References: <345779.20380.qm@web120118.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E655AE8@SRV-APP-6.adept.local> Hello, In Red Hat 7.3, there were some drivers that would not load automatically for the joystick. I think that if you load the hid and joydev modules it should work. Also, make sure USB is not disabled in the kernel. If you still have trouble, look at the output of dmesg to see if there is any record of the device being connected. If you need more help, please send the output of dmesg and lsmod after you plug in the joystick.Best, Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Tuesday, November 16, 2010 9:19 PM To: ariausers Subject: [Aria-users] Pioneer 3 At mobile robot joystick responce Hi My pioneer 3AT mobile robot has recently installed red hat 7.3 , GCC 3.4.6 and Aria 2.7.2. Everything seems like working fine except the joystick. Although I connected it to the port behind the Sick laser (this port is connected to motherboard) it does not recognize the joystick. I need to run programs like Sicklogger and have to use joystick. Any help for getting the joystick working is highly appreciated. Thank you very much. Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 10429 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101117/83267213/attachment.bin From khenglee at hotmail.com Sun Nov 21 14:07:25 2010 From: khenglee at hotmail.com (Kheng Lee Koay) Date: Sun, 21 Nov 2010 19:07:25 +0000 Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Message-ID: Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101121/63863982/attachment.html From awantha at ieee.org Sun Nov 21 18:34:55 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Sun, 21 Nov 2010 15:34:55 -0800 (PST) Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Message-ID: <701154.84254.qm@web120118.mail.ne1.yahoo.com> Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101121/da0a0077/attachment-0001.html From Reed.Hedges at Adept.com Tue Nov 23 09:57:31 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 23 Nov 2010 06:57:31 -0800 Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 In-Reply-To: <701154.84254.qm@web120118.mail.ne1.yahoo.com> References: <701154.84254.qm@web120118.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F3@SRV-APP-6.adept.local> This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 4030 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/e6c97a5c/attachment.bin From Reed.Hedges at Adept.com Tue Nov 23 09:57:40 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: [Aria-users] incompatible Arnl and BaseArnl libraries In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F4@SRV-APP-6.adept.local> I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 4150 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/9b4ed273/attachment.bin From Reed.Hedges at Adept.com Tue Nov 23 10:06:02 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 23 Nov 2010 07:06:02 -0800 Subject: [Aria-users] Pioneer 3 At mobile robot joystick responce In-Reply-To: <345779.20380.qm@web120118.mail.ne1.yahoo.com> References: <345779.20380.qm@web120118.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F5@SRV-APP-6.adept.local> Hello, First, you must plug the joystick in and have the driver loaded before running any programs like sickLogger. Run "dmesg" after you plug in the joystick and see if the kernel logged any messages about it. You may need to run: modprobe joydev If it doesn't detect it automatically. -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Tuesday, November 16, 2010 9:18 PM To: ariausers Subject: [Aria-users] Pioneer 3 At mobile robot joystick responce Hi My pioneer 3AT mobile robot has recently installed red hat 7.3 , GCC 3.4.6 and Aria 2.7.2. Everything seems like working fine except the joystick. Although I connected it to the port behind the Sick laser (this port is connected to motherboard) it does not recognize the joystick. I need to run programs like Sicklogger and have to use joystick. Any help for getting the joystick working is highly appreciated. Thank you very much. Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3697 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/16face8f/attachment-0001.bin From Matt.LaFary at Adept.com Tue Nov 23 10:25:06 2010 From: Matt.LaFary at Adept.com (Matt LaFary) Date: Tue, 23 Nov 2010 07:25:06 -0800 Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E6560C9@SRV-APP-6.adept.local> If the robot reboots after 5 minutes of wander, the first thing you should do is make sure that it's a reboot. You can do that by typing 'uptime' after a suspected reboot and verifying that the uptime got smaller. You should also make sure the robot was fully charged when you started, especially on an AT if the batteries are already too low then the voltage can sag enough to cause the computer to reboot (that'd mostly happen during turns). If you're indoors then using the indoor wheels may help too. If the computer is actually rebooting (and it's not because of voltage) then it's probably hardware problem. Probably with either with voltage regulation or with the computer itself. You should email support at mobilerobots.com at that point, since that's where to go for help with hardware problems. Matt LaFary Adept Technology, Inc. - MobileRobots -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, November 23, 2010 9:58 AM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5226 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/452cb704/attachment.bin From khenglee at hotmail.com Tue Nov 23 10:36:20 2010 From: khenglee at hotmail.com (Kheng Lee Koay) Date: Tue, 23 Nov 2010 15:36:20 +0000 Subject: [Aria-users] incompatible Arnl and BaseArnl libraries In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F4@SRV-APP-6.adept.local> References: , <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F4@SRV-APP-6.adept.local> Message-ID: Hello Reed, I have tried with export CXXFLAGS=-32 as you suggested but I still get the same compile error. If no solution can be found, is it possible to upload a 64-bit version as soon as possible? Best regards, khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/84ad62c8/attachment.html From khenglee at hotmail.com Tue Nov 23 19:29:29 2010 From: khenglee at hotmail.com (Kheng Lee Koay) Date: Wed, 24 Nov 2010 00:29:29 +0000 Subject: [Aria-users] incompatible Arnl and BaseArnl libraries In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F4@SRV-APP-6.adept.local> References: , <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F4@SRV-APP-6.adept.local> Message-ID: Hey Reed, Finally manage to get ARNL examples complied in 64bit Ubuntu. Basically I installing a few extra libraries =================== sudo apt-get install ia32-libs libc6-dev-i386 lib32gcc1 gcc-multilib lib32stdc++6 g++-multilib =================== then add -m32 to the CXXFLAGS in the examples folder's Makefile =================== CXXFLAGS+=-m32 -g -Wall -D_REENTRANT -fno-exceptions -fPIC =================== khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/01914618/attachment-0001.html From awantha at ieee.org Tue Nov 23 21:53:46 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Tue, 23 Nov 2010 18:53:46 -0800 (PST) Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 In-Reply-To: References: Message-ID: <515867.231.qm@web120101.mail.ne1.yahoo.com> Hi, Thanks for the helps. May be it is a battery issue as my batteries are old. I'll check it with new battery set. However, the problem with SickLogger program is still present. I cannot make a map using sick logger. (but the laser appears to be working fine as the programs like wander working well) . Every time even with the different environments, the maps built using mapper 3 seems like same and they don't represent any corresponding environment. Is it a configuration issue? Any help is greatly appreciated. Thank you very much Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 8:59:34 PM Subject: Aria-users Digest, Vol 31, Issue 18 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Error: No packet handler wanted packet with ID: 0x96 (Matt LaFary) 2. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) 3. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 07:25:06 -0800 From: Matt LaFary Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E6560C9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" If the robot reboots after 5 minutes of wander, the first thing you should do is make sure that it's a reboot. You can do that by typing 'uptime' after a suspected reboot and verifying that the uptime got smaller. You should also make sure the robot was fully charged when you started, especially on an AT if the batteries are already too low then the voltage can sag enough to cause the computer to reboot (that'd mostly happen during turns). If you're indoors then using the indoor wheels may help too. If the computer is actually rebooting (and it's not because of voltage) then it's probably hardware problem. Probably with either with voltage regulation or with the computer itself. You should email support at mobilerobots.com at that point, since that's where to go for help with hardware problems. Matt LaFary Adept Technology, Inc. - MobileRobots -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, November 23, 2010 9:58 AM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5226 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/452cb704/attachment-0001.bin ------------------------------ Message: 2 Date: Tue, 23 Nov 2010 15:36:20 +0000 From: Kheng Lee Koay Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hello Reed, I have tried with export CXXFLAGS=-32 as you suggested but I still get the same compile error. If no solution can be found, is it possible to upload a 64-bit version as soon as possible? Best regards, khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/84ad62c8/attachment-0001.html ------------------------------ Message: 3 Date: Wed, 24 Nov 2010 00:29:29 +0000 From: Kheng Lee Koay Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hey Reed, Finally manage to get ARNL examples complied in 64bit Ubuntu. Basically I installing a few extra libraries =================== sudo apt-get install ia32-libs libc6-dev-i386 lib32gcc1 gcc-multilib lib32stdc++6 g++-multilib =================== then add -m32 to the CXXFLAGS in the examples folder's Makefile =================== CXXFLAGS+=-m32 -g -Wall -D_REENTRANT -fno-exceptions -fPIC =================== khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/01914618/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 18 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/f62c5a5d/attachment-0001.html From fangruiscience at gmail.com Tue Nov 23 23:43:14 2010 From: fangruiscience at gmail.com (Rui Fang) Date: Tue, 23 Nov 2010 23:43:14 -0500 Subject: [Aria-users] problem of running ArSpeechSynth_Cepstral or ArSpeechSynth_Festival on Windows system Message-ID: Hello all, We have tried to use ArSpeechSynth_Festival on Windows system, but when we try to test the "usingArFestival " example code, It can compile and create .exe file, but when we run the .exe file it just shows the error message (attached image), when we go to debug the code (usingArFestival-vc2003.sln), the code have the problem of initializing the ArFestival: ArFestival fest; fest.init(); */// error happens here. this code line caused the attached error message* We re-install the ArFestival several times and still the problem comes. We also want to use ArCepstral, when we run an example code: usingArCepstral.cpp from ArSpeechSynth_Cepstral, it says: *"ArCepstral::chooseVoice: Error: could not find a suitable voice! "* What could be the problem? Could somebody please give some suggestions? Thanks a lot! Best, -Rui Fang Michigan State University, U.S. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/00b47f24/attachment-0001.html -------------- next part -------------- A non-text attachment was scrubbed... Name: usingArFestival_problemMessage.jpg Type: image/jpeg Size: 104862 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/00b47f24/attachment-0001.jpg From awantha at ieee.org Wed Nov 24 14:19:49 2010 From: awantha at ieee.org (Awantha Jayasiri) Date: Wed, 24 Nov 2010 11:19:49 -0800 (PST) Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 , abnormally large sickconf values in 1scans.2d In-Reply-To: References: Message-ID: <167025.29400.qm@web120112.mail.ne1.yahoo.com> HI I figured out the problem. Now I have a different issue. The generated "1scans.2d" file (version 3) when running the "sicklogger" program has abnormally large values at the "sickconf" raw (2147483647 -2147483648 0) . As a result, the mapper program does not draw the map. When I replace those values by -90 90 361, the map seems like working fine. Is there any way to make these changes permanently (such as replacing the wrong "sickconf" values with correct values so that it generate the correct map). Thank you very much. Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 11:23:50 PM Subject: Aria-users Digest, Vol 31, Issue 19 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Error: No packet handler wanted packet with ID: 0x96 (Awantha Jayasiri) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 18:53:46 -0800 (PST) From: Awantha Jayasiri Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: aria-users at lists.mobilerobots.com Message-ID: <515867.231.qm at web120101.mail.ne1.yahoo.com> Content-Type: text/plain; charset="us-ascii" Hi, Thanks for the helps. May be it is a battery issue as my batteries are old. I'll check it with new battery set. However, the problem with SickLogger program is still present. I cannot make a map using sick logger. (but the laser appears to be working fine as the programs like wander working well) . Every time even with the different environments, the maps built using mapper 3 seems like same and they don't represent any corresponding environment. Is it a configuration issue? Any help is greatly appreciated. Thank you very much Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 8:59:34 PM Subject: Aria-users Digest, Vol 31, Issue 18 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Error: No packet handler wanted packet with ID: 0x96 (Matt LaFary) 2. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) 3. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 07:25:06 -0800 From: Matt LaFary Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: ariausers Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E6560C9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" If the robot reboots after 5 minutes of wander, the first thing you should do is make sure that it's a reboot. You can do that by typing 'uptime' after a suspected reboot and verifying that the uptime got smaller. You should also make sure the robot was fully charged when you started, especially on an AT if the batteries are already too low then the voltage can sag enough to cause the computer to reboot (that'd mostly happen during turns). If you're indoors then using the indoor wheels may help too. If the computer is actually rebooting (and it's not because of voltage) then it's probably hardware problem. Probably with either with voltage regulation or with the computer itself. You should email support at mobilerobots.com at that point, since that's where to go for help with hardware problems. Matt LaFary Adept Technology, Inc. - MobileRobots -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, November 23, 2010 9:58 AM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5226 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/452cb704/attachment-0001.bin ------------------------------ Message: 2 Date: Tue, 23 Nov 2010 15:36:20 +0000 From: Kheng Lee Koay Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hello Reed, I have tried with export CXXFLAGS=-32 as you suggested but I still get the same compile error. If no solution can be found, is it possible to upload a 64-bit version as soon as possible? Best regards, khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/84ad62c8/attachment-0001.html ------------------------------ Message: 3 Date: Wed, 24 Nov 2010 00:29:29 +0000 From: Kheng Lee Koay Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hey Reed, Finally manage to get ARNL examples complied in 64bit Ubuntu. Basically I installing a few extra libraries =================== sudo apt-get install ia32-libs libc6-dev-i386 lib32gcc1 gcc-multilib lib32stdc++6 g++-multilib =================== then add -m32 to the CXXFLAGS in the examples folder's Makefile =================== CXXFLAGS+=-m32 -g -Wall -D_REENTRANT -fno-exceptions -fPIC =================== khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/01914618/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 18 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/f62c5a5d/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 19 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/9eb59ee5/attachment-0001.html From Reed.Hedges at Adept.com Thu Nov 25 08:30:30 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 25 Nov 2010 05:30:30 -0800 Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 , abnormally large sickconf values in 1scans.2d In-Reply-To: <167025.29400.qm@web120112.mail.ne1.yahoo.com> References: , <167025.29400.qm@web120112.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62F9@SRV-APP-6.adept.local> I think this is a bug in sickLogger. arnlServer does not have this problem, so you can use that to make a map. Or you can download a fixed version from http://robots.mobilerobots.com/tmp/sickLogger.cpp and compile it. -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Wednesday, November 24, 2010 2:19 PM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 , abnormally large sickconf values in 1scans.2d HI I figured out the problem. Now I have a different issue. The generated "1scans.2d" file (version 3) when running the "sicklogger" program has abnormally large values at the "sickconf" raw (2147483647 -2147483648 0) . As a result, the mapper program does not draw the map. When I replace those values by -90 90 361, the map seems like working fine. Is there any way to make these changes permanently (such as replacing the wrong "sickconf" values with correct values so that it generate the correct map). Thank you very much. Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 11:23:50 PM Subject: Aria-users Digest, Vol 31, Issue 19 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Re: Error: No packet handler wanted packet with ID: 0x96 (Awantha Jayasiri) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 18:53:46 -0800 (PST) From: Awantha Jayasiri > Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: aria-users at lists.mobilerobots.com Message-ID: <515867.231.qm at web120101.mail.ne1.yahoo.com> Content-Type: text/plain; charset="us-ascii" Hi, Thanks for the helps. May be it is a battery issue as my batteries are old. I'll check it with new battery set. However, the problem with SickLogger program is still present. I cannot make a map using sick logger. (but the laser appears to be working fine as the programs like wander working well) . Every time even with the different environments, the maps built using mapper 3 seems like same and they don't represent any corresponding environment. Is it a configuration issue? Any help is greatly appreciated. Thank you very much Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" > To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 8:59:34 PM Subject: Aria-users Digest, Vol 31, Issue 18 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Error: No packet handler wanted packet with ID: 0x96 (Matt LaFary) 2. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) 3. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 07:25:06 -0800 From: Matt LaFary > Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E6560C9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" If the robot reboots after 5 minutes of wander, the first thing you should do is make sure that it's a reboot. You can do that by typing 'uptime' after a suspected reboot and verifying that the uptime got smaller. You should also make sure the robot was fully charged when you started, especially on an AT if the batteries are already too low then the voltage can sag enough to cause the computer to reboot (that'd mostly happen during turns). If you're indoors then using the indoor wheels may help too. If the computer is actually rebooting (and it's not because of voltage) then it's probably hardware problem. Probably with either with voltage regulation or with the computer itself. You should email support at mobilerobots.com at that point, since that's where to go for help with hardware problems. Matt LaFary Adept Technology, Inc. - MobileRobots -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, November 23, 2010 9:58 AM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5226 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/452cb704/attachment-0001.bin ------------------------------ Message: 2 Date: Tue, 23 Nov 2010 15:36:20 +0000 From: Kheng Lee Koay > Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Hello Reed, I have tried with export CXXFLAGS=-32 as you suggested but I still get the same compile error. If no solution can be found, is it possible to upload a 64-bit version as soon as possible? Best regards, khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/84ad62c8/attachment-0001.html ------------------------------ Message: 3 Date: Wed, 24 Nov 2010 00:29:29 +0000 From: Kheng Lee Koay > Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Hey Reed, Finally manage to get ARNL examples complied in 64bit Ubuntu. Basically I installing a few extra libraries =================== sudo apt-get install ia32-libs libc6-dev-i386 lib32gcc1 gcc-multilib lib32stdc++6 g++-multilib =================== then add -m32 to the CXXFLAGS in the examples folder's Makefile =================== CXXFLAGS+=-m32 -g -Wall -D_REENTRANT -fno-exceptions -fPIC =================== khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/01914618/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 18 ****************************************** -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/f62c5a5d/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 19 ****************************************** -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 11134 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101125/59eaa1c0/attachment-0001.bin From Reed.Hedges at Adept.com Thu Nov 25 08:32:06 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 25 Nov 2010 05:32:06 -0800 Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 In-Reply-To: <515867.231.qm@web120101.mail.ne1.yahoo.com> References: , <515867.231.qm@web120101.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E5C62FA@SRV-APP-6.adept.local> Can you send some of these maps along with the .2d scan files used to create them? -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Tuesday, November 23, 2010 9:53 PM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi, Thanks for the helps. May be it is a battery issue as my batteries are old. I'll check it with new battery set. However, the problem with SickLogger program is still present. I cannot make a map using sick logger. (but the laser appears to be working fine as the programs like wander working well) . Every time even with the different environments, the maps built using mapper 3 seems like same and they don't represent any corresponding environment. Is it a configuration issue? Any help is greatly appreciated. Thank you very much Regards Awantha Jayasiri ________________________________ From: "aria-users-request at lists.mobilerobots.com" To: aria-users at lists.mobilerobots.com Sent: Tue, November 23, 2010 8:59:34 PM Subject: Aria-users Digest, Vol 31, Issue 18 Send Aria-users mailing list submissions to aria-users at lists.mobilerobots.com To subscribe or unsubscribe via the World Wide Web, visit http://lists.mobilerobots.com/mailman/listinfo/aria-users or, via email, send a message with subject or body 'help' to aria-users-request at lists.mobilerobots.com You can reach the person managing the list at aria-users-owner at lists.mobilerobots.com When replying, please edit your Subject line so it is more specific than "Re: Contents of Aria-users digest..." Today's Topics: 1. Error: No packet handler wanted packet with ID: 0x96 (Matt LaFary) 2. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) 3. Re: incompatible Arnl and BaseArnl libraries (Kheng Lee Koay) ---------------------------------------------------------------------- Message: 1 Date: Tue, 23 Nov 2010 07:25:06 -0800 From: Matt LaFary > Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E6560C9 at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" If the robot reboots after 5 minutes of wander, the first thing you should do is make sure that it's a reboot. You can do that by typing 'uptime' after a suspected reboot and verifying that the uptime got smaller. You should also make sure the robot was fully charged when you started, especially on an AT if the batteries are already too low then the voltage can sag enough to cause the computer to reboot (that'd mostly happen during turns). If you're indoors then using the indoor wheels may help too. If the computer is actually rebooting (and it's not because of voltage) then it's probably hardware problem. Probably with either with voltage regulation or with the computer itself. You should email support at mobilerobots.com at that point, since that's where to go for help with hardware problems. Matt LaFary Adept Technology, Inc. - MobileRobots -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Tuesday, November 23, 2010 9:58 AM To: ariausers Subject: Re: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 This warning is normal with sickLogger. The ArLaserLogger (formerly ArSickLogger) class requests these packets, but does not consume them. I.e. it may use the data from these packets but it does not mark them as handled, which would allow other classes to use the data. Since no other classes happen to be using that data, ARIA prints that warning. (Packet 0x96 contains data that is relevant to certain special robots only, it's not needed for normal mapping operation with a Pioneer type robot.) -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri [awantha at ieee.org] Sent: Sunday, November 21, 2010 6:34 PM To: ariausers Subject: [Aria-users] Error: No packet handler wanted packet with ID: 0x96 Hi Reed, Recently I have installed Red hat linux 7.3 into my lab's pioneer 3 AT robots. I have upgraded to GCC version 3.4.6 and Aria 2.7.2. When I trying to run SickLogger example to make a map of our lab, the error "No packet handler wanted packet with ID: 0x96" is displayed on my local computer screen. No matter what environment is used, the generated map happens to be the same. Also when I run the wander program, seems like the robot it self reboots after about 5 minutes. Can you please help me to resolve these errors? Any help is highly appreciated. Thank you very much Regards Awantha -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5226 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/452cb704/attachment-0001.bin ------------------------------ Message: 2 Date: Tue, 23 Nov 2010 15:36:20 +0000 From: Kheng Lee Koay > Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Hello Reed, I have tried with export CXXFLAGS=-32 as you suggested but I still get the same compile error. If no solution can be found, is it possible to upload a 64-bit version as soon as possible? Best regards, khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101123/84ad62c8/attachment-0001.html ------------------------------ Message: 3 Date: Wed, 24 Nov 2010 00:29:29 +0000 From: Kheng Lee Koay > Subject: Re: [Aria-users] incompatible Arnl and BaseArnl libraries To: > Message-ID: > Content-Type: text/plain; charset="iso-8859-1" Hey Reed, Finally manage to get ARNL examples complied in 64bit Ubuntu. Basically I installing a few extra libraries =================== sudo apt-get install ia32-libs libc6-dev-i386 lib32gcc1 gcc-multilib lib32stdc++6 g++-multilib =================== then add -m32 to the CXXFLAGS in the examples folder's Makefile =================== CXXFLAGS+=-m32 -g -Wall -D_REENTRANT -fno-exceptions -fPIC =================== khenglee From: Reed.Hedges at Adept.com To: aria-users at lists.mobilerobots.com Date: Tue, 23 Nov 2010 06:57:40 -0800 Subject: RE: [Aria-users] incompatible Arnl and BaseArnl libraries I beleive the problem is happening because the libraries are 32-bit libraries, but when you compile the programs, g++ on your 64-bit system produces 64-bit object code. I don't happen to have a 64-bit system at this point to try this, but I think you can add -m32 to the g++ compiler flags, and the programs will be compiled as 32 bit code, which you can still run on your Linux system. To add the compiler flag, set a CXXFLAGS environment variable before compiling: export CXXFLAGS=-m32 make Let me know if this works or not. I hope to have access to a 64 bit system at some point in the future, and I can test this trick or I can just build 64-bit versions of the libraries. But I don't know when this will be. Reed -- Reed Hedges Research Support and Software Adept Technology Inc. - Mobile Robots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For documentation and support, visit http://robots.mobilerobots.com ________________________________________ From: aria-users-bounces at lists.mobilerobots.com [aria-users-bounces at lists.mobilerobots.com] On Behalf Of Kheng Lee Koay [khenglee at hotmail.com] Sent: Sunday, November 21, 2010 2:07 PM To: ariausers Subject: [Aria-users] incompatible Arnl and BaseArnl libraries Hi, I'm having a problem compiling BaseArnl and Arnl examples on 64bit Ubuntu 10.4. Is there any solution on solving this incompatible issue? The examples I'm compiling are from Arnl-1.7.0+gcc41.tgz and BaseArnl-1.7.2+gcc41.tgz. Below is an example error message when compiling justPathPlanning.cpp Many thanks, khenglee ==================== g++ -g -Wall -D_REENTRANT -fno-exceptions -fPIC -I../include -I../include/Aria -I../include/ArNetworking -I../include -I../include/Aria -I../include/ArNetworking -DARNL justPathPlanning.cpp -o justPathPlanning -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt -lArnl -L../lib -lBaseArnl -lArNetworkingForArnl -lAriaForArnl -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -lpthread -ldl -lrt /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: skipping incompatible ../lib/libBaseArnl.so when searching for -lBaseArnl /usr/bin/ld: cannot find -lBaseArnl collect2: ld returned 1 exit status make: *** [justPathPlanning] Error 1 _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users To unsubscribe visit the above webpage or send an e-mail to: aria-users-leave at lists.mobilerobots.com Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101124/01914618/attachment.html ------------------------------ _______________________________________________ Aria-users mailing list Aria-users at lists.mobilerobots.com http://lists.mobilerobots.com/mailman/listinfo/aria-users End of Aria-users Digest, Vol 31, Issue 18 ****************************************** -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 9798 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101125/64bed33c/attachment-0001.bin From toshy.maeda at gmail.com Sun Nov 28 06:39:49 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Sun, 28 Nov 2010 09:39:49 -0200 Subject: [Aria-users] USB Connection Message-ID: Hi, I'm trying to connect to the robot using a usb/serial converter, but I can't make it work. Any sugestions? thanks. toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101128/f6b3f5db/attachment.html From toshy.maeda at gmail.com Sun Nov 28 07:26:02 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Sun, 28 Nov 2010 10:26:02 -0200 Subject: [Aria-users] USB Connection In-Reply-To: References: Message-ID: Hi.. It kind of worked, but now i'm receiveing this error: "Error: Have no parameters for this robot, bad configuration or out of date Aria" []s toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101128/cc8dd3a6/attachment.html From Zeb.Dahl at Adept.com Mon Nov 29 09:16:03 2010 From: Zeb.Dahl at Adept.com (Zeb Dahl) Date: Mon, 29 Nov 2010 06:16:03 -0800 Subject: [Aria-users] USB Connection In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F027E656297@SRV-APP-6.adept.local> Hello Bruno, Please send the entire output of demo when you try to connect and we should be able to tell you what is wrong. Zeb Dahl Research Robot Support Adept MobileRobots support at mobilerobots.com From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Bruno Maeda Sent: Sunday, November 28, 2010 7:26 AM To: aria-users Subject: Re: [Aria-users] USB Connection Hi.. It kind of worked, but now i'm receiveing this error: "Error: Have no parameters for this robot, bad configuration or out of date Aria" []s toshy maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101129/fdd109a7/attachment.html From toshy.maeda at gmail.com Mon Nov 29 12:02:04 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Mon, 29 Nov 2010 15:02:04 -0200 Subject: [Aria-users] USB Connection In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E656297@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E656297@SRV-APP-6.adept.local> Message-ID: Hi Zeb, The thing is that the robot was connected, but there were no info about it (like model, name, etc.)... I've already solved the problem... for some reason, the USB port, although set as COM3 (after all, the robot did connect), was configured as COM17 on Device Manager (not sure if there was clear)... then I just went to Device Manager and forced it to COM3... that worked for me.. Thanks. Toshy Maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101129/5caec125/attachment.html From toshy.maeda at gmail.com Mon Nov 29 12:02:04 2010 From: toshy.maeda at gmail.com (Bruno Maeda) Date: Mon, 29 Nov 2010 15:02:04 -0200 Subject: [Aria-users] USB Connection In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F027E656297@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F027E656297@SRV-APP-6.adept.local> Message-ID: Hi Zeb, The thing is that the robot was connected, but there were no info about it (like model, name, etc.)... I've already solved the problem... for some reason, the USB port, although set as COM3 (after all, the robot did connect), was configured as COM17 on Device Manager (not sure if there was clear)... then I just went to Device Manager and forced it to COM3... that worked for me.. Thanks. Toshy Maeda -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101129/5caec125/attachment-0001.html