From apozo001 at ucr.edu Sun Oct 3 20:54:22 2010 From: apozo001 at ucr.edu (angellopozo) Date: Sun, 03 Oct 2010 17:54:22 -0700 Subject: [Aria-users] Parsing Forbidden area :: Extrapolating points Message-ID: <4CA925BE.3010807@ucr.edu> I am trying to parse a .map file for the forbiddenarea. I am confused as to what the numbers represent. I would like to know how to extrapolate the forbidden area given the line. "Cairn: ForbiddenArea 0 0 0.0000 "" ICON "" num1 num2 num3 num4. Currently I understand: At 0 degrees the forbidden area is "Bottom_left_x, Bottom_left_y , Top_right,x, Top_right_y" ... Effectivly, these are the [minx,miny, maxx,maxy] points. At 90 degrees the forbidden area is "Bottom_right_y, - Bottom_right_x, top_left_y, - top_left_x" ... I am confused as to how the forbidden area is extrapolated given those points and the rotation. I suspect there is matrix being rotated and then translated back into the global frame. But I am unaware as to what the inputs are. I would like to be able to obtain the four corners of the forbidden area. Thank you Angello Pozo From saleh1.ahmad at ryerson.ca Tue Oct 5 19:44:06 2010 From: saleh1.ahmad at ryerson.ca (Saleh) Date: Tue, 05 Oct 2010 19:44:06 -0400 Subject: [Aria-users] monitoring robot's power consumption Message-ID: <4CABB846.7080103@ryerson.ca> Hello, I would like to monitor the power consumption of my powerbot. Please let me know if there is a function in ARIA that i can use. Best regards, Saleh From wheagy at gmail.com Wed Oct 6 19:10:46 2010 From: wheagy at gmail.com (Winfield Heagy) Date: Wed, 6 Oct 2010 19:10:46 -0400 Subject: [Aria-users] Two newb questions: PTZ and mapping Message-ID: Hi, I recently acquired a Pioneer 2 DX that I'm cleaning and reinstalling software and testing functions. So far so good, but a have a couple basic questions that someone here can likely answer. 1) I have a PTZ camera. The video capture works fine in acts. Running acts, mobileeyes, and simpleServerStatic, I get good video in mobileeyes, but the pan, tilt and zoom controls do not work. My guess is that the server I'm running is not supporting PTZ. Is there another piece of software that must be run for these functions to work? The camera does initialize and center itself when powered on. 2) I have been able to get mobileeyes, mapper3basic and sonarnl running. However, manual map making seems tedious. Is there anyway to generate rough automated maps using only sonar? (No laser) 3) Finally, my Pioneer does not have an LCD display. Is the LCD an option? Is it easy to add one? I'm guessing a serial LCD device should be straightforward. Thanks! Win -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101006/fe76b8d6/attachment.html From Reed.Hedges at Adept.com Fri Oct 8 15:23:33 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 8 Oct 2010 12:23:33 -0700 Subject: [Aria-users] monitoring robot's power consumption In-Reply-To: <4CABB846.7080103@ryerson.ca> References: <4CABB846.7080103@ryerson.ca> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF580@SRV-APP-6.adept.local> Yes, ArRobot::getBatteryVoltage() returns a value between 0 and 12 (to match Pioneer 12 V systems). You could also use getRealBatteryVoltage() which is 0..24 on the Powerbot. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of Saleh > Sent: Tuesday, October 05, 2010 7:44 PM > To: ariausers > Subject: [Aria-users] monitoring robot's power consumption > > Hello, > I would like to monitor the power consumption of my powerbot. Please > let > me know if there is a function in ARIA that i can use. > Best regards, > Saleh > _______________________________________________ > 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: 4230 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101008/1b6e4cab/attachment.bin From saleh1.ahmad at ryerson.ca Fri Oct 8 15:38:39 2010 From: saleh1.ahmad at ryerson.ca (Saleh) Date: Fri, 08 Oct 2010 15:38:39 -0400 Subject: [Aria-users] monitoring robot's power consumption In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF580@SRV-APP-6.adept.local> References: <4CABB846.7080103@ryerson.ca> <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF580@SRV-APP-6.adept.local> Message-ID: <4CAF733F.7060200@ryerson.ca> Thanks Reed, I need to know the current. I can easily find out how much current the on-board PC and all accessories use, but I have no idea how to monitor the motors current.. please advise. Best regards > > Yes, ArRobot::getBatteryVoltage() returns a value between 0 and 12 (to match Pioneer 12 V systems). > > You could also use getRealBatteryVoltage() which is 0..24 on the Powerbot. > >> -----Original Message----- >> From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- >> bounces at lists.mobilerobots.com] On Behalf Of Saleh >> Sent: Tuesday, October 05, 2010 7:44 PM >> To: ariausers >> Subject: [Aria-users] monitoring robot's power consumption >> >> Hello, >> I would like to monitor the power consumption of my powerbot. Please >> let >> me know if there is a function in ARIA that i can use. >> Best regards, >> Saleh >> _______________________________________________ >> 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 -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101008/347ff12b/attachment-0001.html From Reed.Hedges at Adept.com Fri Oct 8 15:58:35 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 8 Oct 2010 12:58:35 -0700 Subject: [Aria-users] Parsing Forbidden area :: Extrapolating points In-Reply-To: <4CA925BE.3010807@ucr.edu> References: <4CA925BE.3010807@ucr.edu> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF59A@SRV-APP-6.adept.local> > I am trying to parse a .map file for the forbiddenarea. I am confused > as > to what the numbers represent. I would like to know how to extrapolate > the forbidden area given the line. "Cairn: ForbiddenArea 0 0 0.0000 "" > ICON "" num1 num2 num3 num4. Num1, num2 num3 and num4 describe two opposite corners, giving it a position and size along the Cartesian axes, then the rotation (third number) rotates it in global space, relative to the map origin (not around the area center or any corner point). The first two numbers aren't used. > -----Original Message----- > From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- > bounces at lists.mobilerobots.com] On Behalf Of angellopozo > Sent: Sunday, October 03, 2010 8:54 PM > To: ariausers > Subject: [Aria-users] Parsing Forbidden area :: Extrapolating points > > I am trying to parse a .map file for the forbiddenarea. I am confused > as > to what the numbers represent. I would like to know how to extrapolate > the forbidden area given the line. "Cairn: ForbiddenArea 0 0 0.0000 "" > ICON "" num1 num2 num3 num4. > > Currently I understand: > At 0 degrees the forbidden area is "Bottom_left_x, Bottom_left_y , > Top_right,x, Top_right_y" ... Effectivly, these are the [minx,miny, > maxx,maxy] points. > > At 90 degrees the forbidden area is "Bottom_right_y, - Bottom_right_x, > top_left_y, - top_left_x" ... I am confused as to how the forbidden > area > is extrapolated given those points and the rotation. > > I suspect there is matrix being rotated and then translated back into > the global frame. But I am unaware as to what the inputs are. > > I would like to be able to obtain the four corners of the forbidden > area. > > Thank you > Angello Pozo > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 4844 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101008/a5eb3a78/attachment.bin From Reed.Hedges at Adept.com Fri Oct 8 15:59:14 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 8 Oct 2010 12:59:14 -0700 Subject: [Aria-users] monitoring robot's power consumption In-Reply-To: <4CAF733F.7060200@ryerson.ca> References: <4CABB846.7080103@ryerson.ca> <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF580@SRV-APP-6.adept.local> <4CAF733F.7060200@ryerson.ca> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02549BF59B@SRV-APP-6.adept.local> There isn't anything on the robot to easily sense the current. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Saleh Sent: Friday, October 08, 2010 3:39 PM To: ariausers Subject: Re: [Aria-users] monitoring robot's power consumption Thanks Reed, I need to know the current. I can easily find out how much current the on-board PC and all accessories use, but I have no idea how to monitor the motors current.. please advise. Best regards Yes, ArRobot::getBatteryVoltage() returns a value between 0 and 12 (to match Pioneer 12 V systems). You could also use getRealBatteryVoltage() which is 0..24 on the Powerbot. -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users- bounces at lists.mobilerobots.com] On Behalf Of Saleh Sent: Tuesday, October 05, 2010 7:44 PM To: ariausers Subject: [Aria-users] monitoring robot's power consumption Hello, I would like to monitor the power consumption of my powerbot. Please let me know if there is a function in ARIA that i can use. Best regards, Saleh _______________________________________________ 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: 13358 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101008/a41ea001/attachment-0001.bin From Reed.Hedges at Adept.com Mon Oct 18 09:50:49 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 18 Oct 2010 06:50:49 -0700 Subject: [Aria-users] test message please ignore Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0254AD8A89@SRV-APP-6.adept.local> Test message please ignore -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 3155 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101018/b1088698/attachment.bin From Reed.Hedges at Adept.com Tue Oct 26 09:07:47 2010 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Tue, 26 Oct 2010 06:07:47 -0700 Subject: [Aria-users] Two newb questions: PTZ and mapping Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F0254AD9761@SRV-APP-6.adept.local> Try sonarnlServer, I think it has pan/tilt/zoom server (ArServerHandlerCamera). No, sorry we don't have any process for automating a map with sonar. If you have some kind of drawing of the building in another format, you can write a tool to convert from that format. How this works will depend on that original format. To use the sonar sensors to make a map (e.g. using SLAM or similar) may be possible but is not easy with a low resolution sensor like sonar. We may have an LCD display accessory for Pioneer but it's not necessary to operate the robot. (Our LCD display is mainly just diagnostic about the firmware, but you can display your own messages there.) It's just a short one line display. If you want something more specific to your project I think you can get serial LCD devices that can receive commands and text on a serial port. The onboard computer, if you have one, also has a parallel port interface in it but you would need to add wiring to the board. -- 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 -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101026/2c017eb1/attachment.html From xinwenfu at gmail.com Sat Oct 30 00:35:42 2010 From: xinwenfu at gmail.com (Xinwen Fu) Date: Sat, 30 Oct 2010 00:35:42 -0400 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable Message-ID: 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 -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101030/5abe27dc/attachment.html From xinwenfu at gmail.com Sat Oct 30 00:43:33 2010 From: xinwenfu at gmail.com (Xinwen Fu) Date: Sat, 30 Oct 2010 00:43:33 -0400 Subject: [Aria-users] Code works on MobiSim, but does not on P3-DX via serial cable Message-ID: 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 -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20101030/d67c863a/attachment.html From dseverdi at gmail.com Sat Oct 30 15:09:38 2010 From: dseverdi at gmail.com (=?ISO-8859-2?Q?Domagoj_=A9everdija?=) Date: Sat, 30 Oct 2010 21:09:38 +0200 Subject: [Aria-users] Question regarding odometry pose MobileSim Message-ID: 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 -------------- An HTML attachment was scrubbed... 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