From Reed.Hedges at Adept.com Fri Apr 1 16:51:15 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 1 Apr 2011 13:51:15 -0700 Subject: [Aria-users] AmigoBot control application with customized server functionality In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967DC3@SRV-APP-6.adept.local> Hello, ArSocket follows fairly closely the underlying Linux or Windows sockets API (which are similar). So a server needs to have one socket listening for connections, then it needs to frequently check this socket and accept new clients (accept method, usually in a loop), then it can read and write to and from the client using the newly accepted connection (which is also a socket). ArNetServer provides a more abstract system, where by the server waits for a line (terminated by a newline character) of plain text (ascii text) from a client, consisting of "words" separated by spaces, and calls a callback function based on the first "word" of the line. This makes it easy to use telnet no connect to the server and give it commands. You need to decide what the commands and responses are to and from clients based on your application. Then there is the ArNetworking system. This is a bit more complex but is meant for a common use: a server needs to send periodic data updates to the client, which the client has requested, as well as accept "commands". ArNetworking has lots of predefined classes that implement different kinds of requests related to operating the robot and robot and sensor data. If you give an example of what you want to do or describe your desired application a bit more we can give more specific advice on how to get started. Reed PS. Note that when you connect to the Amigobot over the wifi link using an ArRobotConnector or ArSimpleConnector (e.g. when you use 'demo -rh xx.xx.xx.xx'), it's using an ArSocket internally but this is just a feature of ArDeviceConnection and ArRobotConnector. You don't need to worry too much about the fact that its going over a network, you can just use the ArRobot and other classes to interact with the robot. ArDeviceConnection will take care of sending and receiving the data over the socket. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Andreas Schnieders Sent: Monday, March 28, 2011 4:57 PM To: ariausers Subject: [Aria-users] AmigoBot control application with customized server functionality Hello, in modifying the serverDemo for example to accept a connection from a custom client application to send customized robot-data to and receive commands from this custom client: How and where would you suggest to include the ArSocket structures the best way? Or is there another - easier way - to start a customized server functionality than the use of ArSocket? When I just create an ArSocket object I still need a proper way to wait for and accept an incomming connection. Already had a look on netServerExample and simpleServerExample. These structures are quite simple, but I can't really see how to include them into the robot control programs of higher complexity. Many thanks in advance, Andreas -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110401/42420eba/attachment.html From erdemdilmen at yahoo.com Mon Apr 4 08:37:28 2011 From: erdemdilmen at yahoo.com (Erdi) Date: Mon, 4 Apr 2011 05:37:28 -0700 (PDT) Subject: [Aria-users] P3 AT Compass Connection Problem Message-ID: <494326.93543.qm@web110613.mail.gq1.yahoo.com> Hi all,I am using P3 AT?mobile robot?and have a PNI TCM2 module compass. I have calibrated it and calibration scores are pretty good. As i know i should attach it to one of the auxilliary?serial ports?on the microcontroller board but i want to be sure whether i attached it right or should i attach it to the onboard pc?As i know there is a parameter file in the flash of the mobile robot microcontroller. I tried to change the compass aux port parameter in it. I made this using ?ARCOScf.exe, i downloaded it from the official web site?robot.mobilerobots.com, it is used for installing new ARCOS software to the microcontroller or changing the parameter values in the flash of it. I ran it in interactive mode in which no connection with the microcontroller is made and i changed the parameter. When i tried to save it could not succee because there was no connection with the microcontroller(as the?error code?said). Then i ran ARCOScf.exe again by making a connection with the mobile robot but at that time i was not able to enter any command through the dos window. As a result my change did not take any effect. Still the parameter has the value of 0 which means TCM2 module is disabled. Can anybody help me?Thanks. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/f9cc3a45/attachment.html From Reed.Hedges at Adept.com Mon Apr 4 10:23:48 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 4 Apr 2011 07:23:48 -0700 Subject: [Aria-users] P3 AT Compass Connection Problem In-Reply-To: <494326.93543.qm@web110613.mail.gq1.yahoo.com> References: <494326.93543.qm@web110613.mail.gq1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E80@SRV-APP-6.adept.local> Hi Erdi, What happened when you tried to change the TCM2 parameter in ARCOScf after connecting to the robot? You should be able to change it with the following commands in ARCOScf: Tcm2 1 save (Use "Tcm2 2" or "Tcm2 3" instead if attached to Aux 2 or Aux 3 serial ports instead of Aux 1. The appendix of the P3-AT operations manual shows which ports on the board are Aux1, Aux2 etc.) From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Erdi Sent: Monday, April 04, 2011 8:37 AM To: ariausers Subject: [Aria-users] P3 AT Compass Connection Problem Hi all, I am using P3 AT mobile robot and have a PNI TCM2 module compass. I have calibrated it and calibration scores are pretty good. As i know i should attach it to one of the auxilliary serial ports on the microcontroller board but i want to be sure whether i attached it right or should i attach it to the onboard pc? As i know there is a parameter file in the flash of the mobile robot microcontroller. I tried to change the compass aux port parameter in it. I made this using ARCOScf.exe, i downloaded it from the official web site robot.mobilerobots.com, it is used for installing new ARCOS software to the microcontroller or changing the parameter values in the flash of it. I ran it in interactive mode in which no connection with the microcontroller is made and i changed the parameter. When i tried to save it could not succee because there was no connection with the microcontroller(as the error code said). Then i ran ARCOScf.exe again by making a connection with the mobile robot but at that time i was not able to enter any command through the dos window. As a result my change did not take any effect. Still the parameter has the value of 0 which means TCM2 module is disabled. Can anybody help me? Thanks. -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 12446 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/f79f8bbb/attachment-0001.bin From Reed.Hedges at Adept.com Mon Apr 4 10:28:08 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 4 Apr 2011 07:28:08 -0700 Subject: [Aria-users] help with aria using mobile sim In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E86@SRV-APP-6.adept.local> Hi David, I was able to run your program using the "Columbia.map" map file and it seemed to operate correctly. I did change the obstacle ranges to 1000 from 600 just to make it easier to test all the cases. One thing I did that improved performance on the simulator was use setVel() instead of move(). I replaced move(100) with setVel(300), and also added setVel(0) calls to the other conditions where the robot should rotate instead of drive forward. In what conditions does the robot fail to turn 180 degrees? Most of the time the robot would detect obstacles on one side or the other and turn accordingly, it only rarely reached the last case where it makes a complete 180 degree rotation. Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of David Newby Sent: Thursday, March 31, 2011 8:36 PM To: ariausers Subject: [Aria-users] help with aria using mobile sim Hey all I am having a problem try to get my robot to turn 180. I am working in Microsoft visual studio 2008 connecting to a mobile sim simulator. i have included my .cpp file with this e-mail. any other advice about errors or improvements to my code would be helpful. thank you David -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 11621 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/c670181d/attachment.bin From Reed.Hedges at Adept.com Mon Apr 4 10:38:12 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 4 Apr 2011 07:38:12 -0700 Subject: [Aria-users] help with aria using mobile sim In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E86@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E86@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E92@SRV-APP-6.adept.local> Another thought, I also moved the enable motors command outside the loop. The simulator may reset some state when given this command (but I'll check on this) and it's only necessary to send it once. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Reed Hedges Sent: Monday, April 04, 2011 10:28 AM To: ariausers Subject: Re: [Aria-users] help with aria using mobile sim Hi David, I was able to run your program using the "Columbia.map" map file and it seemed to operate correctly. I did change the obstacle ranges to 1000 from 600 just to make it easier to test all the cases. One thing I did that improved performance on the simulator was use setVel() instead of move(). I replaced move(100) with setVel(300), and also added setVel(0) calls to the other conditions where the robot should rotate instead of drive forward. In what conditions does the robot fail to turn 180 degrees? Most of the time the robot would detect obstacles on one side or the other and turn accordingly, it only rarely reached the last case where it makes a complete 180 degree rotation. Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of David Newby Sent: Thursday, March 31, 2011 8:36 PM To: ariausers Subject: [Aria-users] help with aria using mobile sim Hey all I am having a problem try to get my robot to turn 180. I am working in Microsoft visual studio 2008 connecting to a mobile sim simulator. i have included my .cpp file with this e-mail. any other advice about errors or improvements to my code would be helpful. thank you David -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/16268430/attachment-0001.html From schnieders.a at googlemail.com Mon Apr 4 10:55:06 2011 From: schnieders.a at googlemail.com (Andreas Schnieders) Date: Mon, 4 Apr 2011 15:55:06 +0100 Subject: [Aria-users] AmigoBot control application with customized server functionality (Andreas Schnieders) Message-ID: Hi everyone, hi Reed, thank you very much for that explanations on the AmigoBots' possibilities of networking. As requested, I specify a bit more the ideas of my own applications: I want to create a central control application, that controls two robots in a way, that ensures, they are always travelling in different areas of a room / an environment. This is meant to be a first step towards robot-cooperation and a basic implementation for future use as well. Therefore I want to create one application connecting to a single robot, something like the "serverDemo" provided in the examples. I would use to instances of this application to connect to one robot each. My central control application is supposed to connect to these single-robot applications over a socket connection. My central control application than shall receive position updates from each single-robot-application, process these and send control-commands back to each single-robot application telling them where to travel. Does this make any sense to you? It might look a bit senseless in the first place, but it will contribute to future approaches in our robot-lab as well, since the single-robot applications receiving control commands over a network connection will be re-used. Many thanks in advance. If I can provide further information on my approach, please let me know. Kind regards, Andreas Schnieders -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/c8f5b23d/attachment.html From me.vol.3 at gmail.com Mon Apr 4 11:38:17 2011 From: me.vol.3 at gmail.com (David Newby) Date: Mon, 4 Apr 2011 16:38:17 +0100 Subject: [Aria-users] help with aria using mobile sim In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E86@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8967E86@SRV-APP-6.adept.local> Message-ID: Hi Reed, Thank you for your help. I have tried the suggestions made and they have improved my code. i have had to keep the range at 600 due to the map I'm using which i have included with this e-mail I have also included the updated cpp file. The problem with the 180 turn is in this maze it doesn't complete the 180, I have tried the 180 at several of the dead ends in my map. again any inputs to my code wound be helpful. David On Mon, Apr 4, 2011 at 3:28 PM, Reed Hedges wrote: > > Hi David, > > I was able to run your program using the "Columbia.map" map file and it > seemed to operate correctly. I did change the obstacle ranges to 1000 from > 600 just to make it easier to test all the cases. > > One thing I did that improved performance on the simulator was use setVel() > instead of move(). I replaced move(100) with setVel(300), and also added > setVel(0) calls to the other conditions where the robot should rotate > instead of drive forward. > > In what conditions does the robot fail to turn 180 degrees? Most of the > time the robot would detect obstacles on one side or the other and turn > accordingly, it only rarely reached the last case where it makes a complete > 180 degree rotation. > > Reed > > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of David Newby > Sent: Thursday, March 31, 2011 8:36 PM > To: ariausers > Subject: [Aria-users] help with aria using mobile sim > > Hey all I am having a problem try to get my robot to turn 180. I am working > in Microsoft visual studio 2008 connecting to a mobile sim simulator. i have > included my .cpp file with this e-mail. > any other advice about errors or improvements to my code would be helpful. > > thank you > > 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/20110404/f11a268a/attachment.html -------------- next part -------------- A non-text attachment was scrubbed... Name: Main.cpp Type: text/x-c++src Size: 4203 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/f11a268a/attachment.bin -------------- next part -------------- A non-text attachment was scrubbed... Name: firstmaze.map Type: application/octet-stream Size: 3671 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110404/f11a268a/attachment.obj From kuto at d-itlab.co.jp Thu Apr 7 02:36:53 2011 From: kuto at d-itlab.co.jp (kuto at d-itlab.co.jp) Date: Thu, 7 Apr 2011 15:36:53 +0900 Subject: [Aria-users] [Bug Report]ARIA swig java library's String Array treatment is not correct Message-ID: <3A9F812E2E20484A91A16CE721C4A1913AE891@itlabsvr21.itlab.local> Hello. I tried to use ARIA Swig Java Library but I found a fatal bug of swig java library of aria. So I report detail below. [Summary] I encountered two problems. Calling JNI function which argument type is String[](ex:new ArArgumentParser(String[] argv)) fail with EXCEPTION_ACCESS_VIOLATION. sample code: public static void test1(String[] args) { args=new String[]{"DummyArg0","-remoteHost","localhost"}; ArArgumentParser parser = new ArArgumentParser(args); } Aria-2.7.2.exe doesn't contain ArNetworking's swig wrapper file(Aria/ArNetworking/include/wrapper.i). So I cannot recompile it. [Environment] ARIA 2.7.2 Windows XP 32bit Visual Studio 2008 Jdk 1.6.0_18 Swig: 2.0.3 [Reason and a solution of ] A Treatment of String[] in Swig wrapper(ARIA/include/wrapper.i) is wrong. in wrapper.i Line 255, malloc(strlen((cs)+1) * sizeof(const char)) references wrong memory address because "strlen((cs)+1) is c-string pointer's next address. so nonsense size of memory will be allocated. I think that correct code is malloc((strlen(cs)+1) * sizeof(const char)) wrapper.i:Line242-266 ------------------------------------------------------------------------------------------------ /* In Java, use a String[] for argc and argv (e.g. the argv[] parameter in main()) */ #ifdef SWIGJAVA %typemap(in) (int *argc, char **argv) (jint size){ /* (begin %typemap(in) for (int *argc, char **argv) */ size = jenv->GetArrayLength((jarray)$input); int tmpArgc = size; int i; $2 = (char**)malloc( (size+1) * sizeof(char*) ); for(i = 0; i < size; i++) { jstring js = (jstring) jenv->GetObjectArrayElement((jobjectArray)$input, i); const char *cs = jenv->GetStringUTFChars(js, 0); $2[i] = (char*)malloc(strlen((cs)+1) * sizeof(const char)); /* a wrong code. */ $2[i] = (char*)malloc((strlen(cs)+1) * sizeof(const char)); /* my suggestion code */ strcpy($2[i], cs); jenv->ReleaseStringUTFChars(js, cs); jenv->DeleteLocalRef(js); } $2[i] = 0; int *newArgc = (int*) malloc(sizeof(int)); *newArgc = tmpArgc; $1 = newArgc; /* (end %typemap(in) for (int *argc, char **argv) */ } ------------------------------------------------------------------------------------------------ [Request of ] Could you include "Aria/ArNetworking/include/wrapper.i" to Aria's windows installer. -- Thanks. -------------------------------------------------- Denso IT Laboratory, Inc. Research & Development Group Keisuke UTO E-mail: kuto at d-itlab.co.jp Shibuya cross tower 28th Floor 2-15-1 Shibuya Shibuya-ku Tokyo, 150-0002 Japan http://www.d-itlab.co.jp/ -------------------------------------------------- From belhady at yahoo.com Thu Apr 7 09:29:03 2011 From: belhady at yahoo.com (Badil Elhady) Date: Thu, 7 Apr 2011 06:29:03 -0700 (PDT) Subject: [Aria-users] control Amigobot Message-ID: <806955.64325.qm@web31501.mail.mud.yahoo.com> Hello mobile robots, I am new with the AmigoBot, I started working on them before the end of last year, but not continuously, I am not sure how to make the connection between the Amigobots, would you kindly elaborate on it? (do they have the capability to exchange information among the Amigobots) Another question I wanted to ask regarding the network configuration, I have used ad hoc, but I was advise not to use it, what is your take on that? One more matter I wanted to get help with is the twoRobotWander program, I am trying to make three robot wander using the example to the 2 robots, but I am always getting error, and different issues every time. Is this program made to handle only 2 robots, have you any code you would not mind sharing that will control 3 robots, I would appreciate any help you can give. This would be a first step of what I am trying to achieve which is having a leader flower format. Thank you for any advice you might have for me. Hope to hear from you soon. ~**~~````~~```~```** Badil Elhady? .*~**~~````~~```~```*' The University of Texas at San Antonio -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110407/c29cc001/attachment.html From Reed.Hedges at Adept.com Thu Apr 7 09:30:01 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 7 Apr 2011 06:30:01 -0700 Subject: [Aria-users] [Bug Report]ARIA swig java library's String Array treatment is not correct In-Reply-To: <3A9F812E2E20484A91A16CE721C4A1913AE891@itlabsvr21.itlab.local> References: <3A9F812E2E20484A91A16CE721C4A1913AE891@itlabsvr21.itlab.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C89683A3@SRV-APP-6.adept.local> Hi, thanks for the information and fix! Attached is ArNetworking's wrapper.i -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of kuto at d-itlab.co.jp Sent: Thursday, April 07, 2011 2:37 AM To: ariausers Subject: [Aria-users] [Bug Report]ARIA swig java library's String Array treatment is not correct Hello. I tried to use ARIA Swig Java Library but I found a fatal bug of swig java library of aria. So I report detail below. [Summary] I encountered two problems. Calling JNI function which argument type is String[](ex:new ArArgumentParser(String[] argv)) fail with EXCEPTION_ACCESS_VIOLATION. sample code: public static void test1(String[] args) { args=new String[]{"DummyArg0","-remoteHost","localhost"}; ArArgumentParser parser = new ArArgumentParser(args); } Aria-2.7.2.exe doesn't contain ArNetworking's swig wrapper file(Aria/ArNetworking/include/wrapper.i). So I cannot recompile it. [Environment] ARIA 2.7.2 Windows XP 32bit Visual Studio 2008 Jdk 1.6.0_18 Swig: 2.0.3 [Reason and a solution of ] A Treatment of String[] in Swig wrapper(ARIA/include/wrapper.i) is wrong. in wrapper.i Line 255, malloc(strlen((cs)+1) * sizeof(const char)) references wrong memory address because "strlen((cs)+1) is c-string pointer's next address. so nonsense size of memory will be allocated. I think that correct code is malloc((strlen(cs)+1) * sizeof(const char)) wrapper.i:Line242-266 ------------------------------------------------------------------------------------------------ /* In Java, use a String[] for argc and argv (e.g. the argv[] parameter in main()) */ #ifdef SWIGJAVA %typemap(in) (int *argc, char **argv) (jint size){ /* (begin %typemap(in) for (int *argc, char **argv) */ size = jenv->GetArrayLength((jarray)$input); int tmpArgc = size; int i; $2 = (char**)malloc( (size+1) * sizeof(char*) ); for(i = 0; i < size; i++) { jstring js = (jstring) jenv->GetObjectArrayElement((jobjectArray)$input, i); const char *cs = jenv->GetStringUTFChars(js, 0); $2[i] = (char*)malloc(strlen((cs)+1) * sizeof(const char)); /* a wrong code. */ $2[i] = (char*)malloc((strlen(cs)+1) * sizeof(const char)); /* my suggestion code */ strcpy($2[i], cs); jenv->ReleaseStringUTFChars(js, cs); jenv->DeleteLocalRef(js); } $2[i] = 0; int *newArgc = (int*) malloc(sizeof(int)); *newArgc = tmpArgc; $1 = newArgc; /* (end %typemap(in) for (int *argc, char **argv) */ } ------------------------------------------------------------------------------------------------ [Request of ] Could you include "Aria/ArNetworking/include/wrapper.i" to Aria's windows installer. -- Thanks. -------------------------------------------------- Denso IT Laboratory, Inc. Research & Development Group Keisuke UTO E-mail: kuto at d-itlab.co.jp Shibuya cross tower 28th Floor 2-15-1 Shibuya Shibuya-ku Tokyo, 150-0002 Japan http://www.d-itlab.co.jp/ -------------------------------------------------- _______________________________________________ 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: 21009 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110407/bf08ccaa/attachment-0001.bin From Reed.Hedges at Adept.com Thu Apr 7 09:36:37 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 7 Apr 2011 06:36:37 -0700 Subject: [Aria-users] AmigoBot control application with customized server functionality (Andreas Schnieders) In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C89683A9@SRV-APP-6.adept.local> I would take a look at ArNetworking a bit and see if you want to use it. See the example programs. What you would do in this situation is create a central server program (use ArServerBase in it) to which each program controlling a robot would connect as a client (ArClientBase). The central server can maintain a list of which clients are connected, and the clients can send it information, and they can also request a periodic uptade of combined information from all robots. You could identify each robot by IP address, or better, give each a symbolic name. This is probably the most direct way of doing just this, and a good place to start. There are other variations too (actually our ARNL library contains something similar but a bit more generalized called forwarders). The main thing to learn about using ArNetworking is how to add and remove data values to and from packets. See the ArNetPacket and ArBasePacket API documentation and look at the example programs. Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Andreas Schnieders Sent: Monday, April 04, 2011 10:55 AM To: ariausers Subject: Re: [Aria-users] AmigoBot control application with customized server functionality (Andreas Schnieders) Hi everyone, hi Reed, thank you very much for that explanations on the AmigoBots' possibilities of networking. As requested, I specify a bit more the ideas of my own applications: I want to create a central control application, that controls two robots in a way, that ensures, they are always travelling in different areas of a room / an environment. This is meant to be a first step towards robot-cooperation and a basic implementation for future use as well. Therefore I want to create one application connecting to a single robot, something like the "serverDemo" provided in the examples. I would use to instances of this application to connect to one robot each. My central control application is supposed to connect to these single-robot applications over a socket connection. My central control application than shall receive position updates from each single-robot-application, process these and send control-commands back to each single-robot application telling them where to travel. Does this make any sense to you? It might look a bit senseless in the first place, but it will contribute to future approaches in our robot-lab as well, since the single-robot applications receiving control commands over a network connection will be re-used. Many thanks in advance. If I can provide further information on my approach, please let me know. Kind regards, Andreas Schnieders -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 11100 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110407/1ccecfc0/attachment.bin From Reed.Hedges at Adept.com Thu Apr 7 13:54:35 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 7 Apr 2011 10:54:35 -0700 Subject: [Aria-users] Adept MobileRobots will be at ICRA 2011 Message-ID: Hello, Adept MobileRobots will be at ICRA 2011 in Shanghai in May (http://www.icra2011.org) . Leeman Inc., our reseller in China will also be there, as will some of my new colleagues from other divisions of Adept who are familiar with other Adept robots such as the Viper arm. Will you be there? Are you or your colleagues presenting any work? Are there any of our products, software features, etc that you would like to see demonstrated? Hope to see you at ICRA! Reed -- Reed Hedges Pioneer Research Software and Support Adept Technology - MobileRobots reed.hedges at adept.com http://www.mobilerobots.com - http://www.adept.com For downloads and documentation, visit http://robots.mobilerobots.com -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 7152 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110407/f2c7c1be/attachment-0001.bin From jay.iiit at gmail.com Thu Apr 7 16:20:19 2011 From: jay.iiit at gmail.com (Mrityunjay) Date: Thu, 7 Apr 2011 16:20:19 -0400 Subject: [Aria-users] Calculating robots location using Encoder feedback Message-ID: Hello All, I have recently started working on Pioneer P3-DX and programmed it for some autonomous motion (hard-coded) using ARIA library. I would like to access the encoder feedback to calculate how much the robot has moved from its initial position including the delta-heading (direction, etc). I am still looking at the ARIA documentation to find the appropriate classes and function, but it would be nice if somebody can point me in the right direction. Thanks and Regards, Mrityunjay http://mrityunjay.in/ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110407/7617d219/attachment.html From awantha at ieee.org Fri Apr 8 17:16:45 2011 From: awantha at ieee.org (Awantha Jayasiri) Date: Fri, 8 Apr 2011 14:16:45 -0700 (PDT) Subject: [Aria-users] Connecting problem with robot server from remote computer Message-ID: <860715.26048.qm@web120109.mail.ne1.yahoo.com> Hi Reed, When I run ArNetworking/examples/serverDemo in the robots on-board computer the server starts running. But when I try to connect to the server from remote computer using Mobile Eyes it shows following. "Client connected from 10.0.0.11" Aria Received signal "SIGSEGV". exiting server shutting down, sending shut down, Disconnecting from robot And the Mobile eyes shows "Connection closed by robot 10.0.0.20". Could you please tell me how can I establish the service permanently. Shoud the ARNL directory be installed seperately in robots on-board computer and run "guiServer" from there? Thank you very much. P.S. I will be attending in ICRA 2011 and presenting some work in multi robot coordination. I also would like to see some demonstrations of Seekur Jr. since we are planing to buy one. Thank you Regards Awantha Jayasiri -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110408/2ec5004a/attachment.html From zhossain.kuet at yahoo.com Mon Apr 11 03:47:35 2011 From: zhossain.kuet at yahoo.com (Hossain, Md.Z) Date: Mon, 11 Apr 2011 00:47:35 -0700 (PDT) Subject: [Aria-users] Failed to connect to robot on windows 7 In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0252BE6FE1@SRV-APP-6.adept.local> <730872.26412.qm@web46407.mail.sp1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> Message-ID: <675503.1923.qm@web46413.mail.sp1.yahoo.com> Hi there, I was trying to use demo program from example on windows 7(visual studio 2008 and Aria 2.7.2). But getting these message........ please help Could not connect to simulator, connecting to robot through serial port COM3. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: Type: Subtype: Error: Have no parameters for this robot, bad configuration or out of date Aria Failed to connect to robot. Error, could not connect to robot. Thanks in advance Hossain ________________________________ From: Reed Hedges To: ariausers Sent: Wed, March 23, 2011 5:29:29 AM Subject: Re: [Aria-users] Laser mode failed to connect to the laser Hello, sorry for the delay, do you still have this problem? I would try to verify both the physical connection to the laser and also that /dev/ttyUSB1 still works in Linux (you could plug the robot into the laser's serial interface and try ./demo -rp /dev/ttyUSB1). Since USB devices are removable Linux might assign a different name under some conditions. (You could look at dmesg for relevant log messages). Are you powering the laser directly or are you using our laser power controller board (its normally inside the black laser bracket, so if you are just using the existing cabling, it would be involved). The operation of this controller is described a bit here and may help: http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossain, Md.Z Sent: Tuesday, March 22, 2011 8:49 AM To: ariausers Subject: [Aria-users] Laser mode failed to connect to the laser Hi everyone, I am trying to run the demo program from Aria/example using "./demo -rp /dev/ttyUSB0 -lp /dev/ttyUSB1" command. Robot is being connected but when i'm trying to go in laser mode i'm getting this message......... You are in 'laser' mode currently. Laser mode connects to a laser, or uses a previously established connection. Laser mode then displays the closest and furthest reading from the laser. 'z' or 'Z': toggle between far reading and middle reading with reflectivity 1: lms2xx_1 ArModeLaser is connecting to lms2xx_1. lms2xx_1: waiting for laser to power on. lms2xx_1: Failed to connect to laser, no poweron received. Laser mode failed to connect to the laser. Switch out of this mode and back to try reconnecting. Warning: ArRobot sync tasks too long at 306 ms, (100 ms normal 250 ms warning) But few days ego, it was working perfectly.....Please help me as soon as possible....... For your kind information...... OS: Obuntu 10.04 ARIA Version 2.7.2 Robot: Pioneer 3 Thanks in advance Hossain -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110411/5f7c81a2/attachment.html From tsokas at ekt.gr Mon Apr 11 08:10:53 2011 From: tsokas at ekt.gr (tsokas at ekt.gr) Date: Mon, 11 Apr 2011 15:10:53 +0300 (EEST) Subject: [Aria-users] Failed to connect to robot on windows 7 In-Reply-To: <675503.1923.qm@web46413.mail.sp1.yahoo.com> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0252BE6FE1@SRV-APP-6.adept.local> <730872.26412.qm@web46407.mail.sp1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> <675503.1923.qm@web46413.mail.sp1.yahoo.com> Message-ID: <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> Hi Hossain, How exactly have you issued demo command from Windows? Like: "demo.exe -rp COM3" ? I guess you are using a usb-to-serial cable. Go to My Computer --> Properties --> Hardware --> Device Manager. Under "Ports" you can find which serial port (COM3 or whatever) your usb-to-serial cable has been mapped to. Try issuing demo.exe with the correct port (if not done already). Best regards, Nicolas Tsokas National Technical University of Athens > Hi there, > > I was trying to use demo program from example on windows 7(visual studio > 2008 > and Aria 2.7.2). But getting these message........ please help > > Could not connect to simulator, connecting to robot through serial port > COM3. > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: > Type: > Subtype: > Error: Have no parameters for this robot, bad configuration or out of date > Aria > Failed to connect to robot. > Error, could not connect to robot. > > > Thanks in advance > Hossain > > > > > ________________________________ > From: Reed Hedges > To: ariausers > Sent: Wed, March 23, 2011 5:29:29 AM > Subject: Re: [Aria-users] Laser mode failed to connect to the laser > > > Hello, sorry for the delay, do you still have this problem? > > I would try to verify both the physical connection to the laser and also > that > /dev/ttyUSB1 still works in Linux (you could plug the robot into the > laser's > serial interface and try ./demo -rp /dev/ttyUSB1). Since USB devices are > removable Linux might assign a different name under some conditions. (You > could > look at dmesg for relevant log messages). > > Are you powering the laser directly or are you using our laser power > controller > board (its normally inside the black laser bracket, so if you are just > using the > existing cabling, it would be involved). The operation of this controller > is > described a bit here and may help: > http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board > > Reed > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossain, > Md.Z > Sent: Tuesday, March 22, 2011 8:49 AM > To: ariausers > Subject: [Aria-users] Laser mode failed to connect to the laser > > Hi everyone, > > I am trying to run the demo program from Aria/example using "./demo -rp > /dev/ttyUSB0 -lp /dev/ttyUSB1" command. Robot is being connected but when > i'm > trying to go in laser mode i'm getting this message......... > You are in 'laser' mode currently. > > Laser mode connects to a laser, or uses a previously established > connection. > Laser mode then displays the closest and furthest reading from the laser. > 'z' or 'Z': toggle between far reading and middle reading with > reflectivity > 1: lms2xx_1 > > ArModeLaser is connecting to lms2xx_1. > lms2xx_1: waiting for laser to power on. > lms2xx_1: Failed to connect to laser, no poweron received. > > Laser mode failed to connect to the laser. > > Switch out of this mode and back to try reconnecting. > > Warning: ArRobot sync tasks too long at 306 ms, (100 ms normal 250 ms > warning) > > But few days ego, it was working perfectly.....Please help me as soon as > possible....... > > For your kind information...... > OS: Obuntu 10.04 > ARIA Version 2.7.2 > Robot: Pioneer 3 > > Thanks in advance > Hossain > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > Mailing list archives are at http://lists.mobilerobots.com/ > From juanfhj at gmail.com Mon Apr 11 08:19:01 2011 From: juanfhj at gmail.com (Juan Fernando Herrera J.) Date: Mon, 11 Apr 2011 07:19:01 -0500 Subject: [Aria-users] Failed to connect to robot on windows 7 In-Reply-To: <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0252BE6FE1@SRV-APP-6.adept.local> <730872.26412.qm@web46407.mail.sp1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> <675503.1923.qm@web46413.mail.sp1.yahoo.com> <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> Message-ID: I also had problems with MobileSim on Windows 7. I had to use the "Troubleshoot compatibility" wizard for it to work (right click on the program in its home folder). -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110411/b8fc1079/attachment.html From jtobin at po-box.esu.edu Mon Apr 11 09:04:12 2011 From: jtobin at po-box.esu.edu (John Tobin) Date: Mon, 11 Apr 2011 09:04:12 -0400 Subject: [Aria-users] FW: Do you have instructions for a normal Microsoft visual studio setup? In-Reply-To: <86F4E1A17D52D843BF778D314884A8D01B1031@morticia.admin.esu.edu> Message-ID: Hey, Has anybody run into this stuff? I am using microsoft visual studio with C++ to rebuild the demo, make sure this works with studio 2010. I have had some problems [see the #includes below] and resolved them. After that I am getting build errors listed [directly] below. I will admit being a newbie to mobilerobots, and visual Studio [2010] Until recently worked mostly in the unix world. Any assistance would be greatly appreciated. But these errors almost sound like I am missing part of what is required to build.... I did a full install of the disk shipped with the robot, and it sounds like I am missing files. Watzup? Is there a place I can down load this stuff from? Sincerely, tob ------ Forwarded Message From: John Tobin Date: Thu, 7 Apr 2011 10:57:14 -0400 To: support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Sorry, I have not followed up on this, sorry, this project got upstaged by some other problems. The instructions you have given worked well, now I am facing a different problem listed below. What can you do for me? I find for instance: Volume in drive C is Vista Volume Serial Number is F448-A816 Directory of C:\Program Files\MobileRobots\Aria\obj\Debug-VC9 04/07/2011 12:01 PM 34,398 AriaDLL.Build.CppClean.log 04/07/2011 12:06 PM 71 AriaDLL.lastbuildstate 04/07/2011 12:06 PM 23,494 AriaDLLBuildLog.htm 04/07/2011 12:06 PM 569 armExample.Build.CppClean.log 04/07/2011 12:06 PM 71 armExample.lastbuildstate 04/07/2011 12:06 PM 0 armExample.unsuccessfulbuild 04/07/2011 12:06 PM 1,755 armExampleBuildLog.htm 7 File(s) 60,358 bytes 0 Dir(s) 52,868,292,608 bytes free In \program files\mobilerobots\aria\obj\debug-vc-9. But none of the files listed below. And I find in \program files\mobilerobots\aria\bin Ariadebug.lib and ariadebug.dll What would you suggest? Thanks tob >Build succeeded. 1> 1>Time Elapsed 00:04:19.76 3>------ Rebuild All started: Project: actsColorFollowingExample, Configuration: Debug Win32 ------ 4>------ Rebuild All started: Project: simpleConnect, Configuration: Debug Win32 ------ 4>Build started 4/7/2011 12:06:11 PM. 4>_PrepareForClean: 4> Deleting file "../obj/Debug-VC9\simpleConnect.lastbuildstate". 3>Build started 4/7/2011 12:06:11 PM. 3>_PrepareForClean: 3> Deleting file "../obj/Debug-VC9\actsColorFollowingExample.lastbuildstate". 3>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARACTIONDESIRED.SBR' is denied. 3>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARFILEPARSER.OBJ' is denied. 4>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARLOG.OBJ' is denied. 4>InitializeBuildStatus: 4> Creating "../obj/Debug-VC9\simpleConnect.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>InitializeBuildStatus: 3> Creating "../obj/Debug-VC9\actsColorFollowingExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>ClCompile: 3> actsColorFollowingExample.cpp 4>ClCompile: 4> simpleConnect.cpp 4>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 4> 4>Build FAILED. 4> Followed by related [I assume]: Build started 4/7/2011 12:06:14 PM. 5>_PrepareForClean: 5> Deleting file "../obj/Debug-VC9\gpsExample.lastbuildstate". 5>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\actsColorFollowingExample.sbr' because it is being used by another process. 5>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\vc100.pdb' because it is being used by another process. 5>InitializeBuildStatus: 5> Creating "../obj/Debug-VC9\gpsExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 5>ClCompile: 5> gpsExample.cpp 3>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 3> 3>Build FAILED. 3> 3>Time Elapsed 00:00:06.26 6>------ Rebuild All started: Project: vcc4CameraExample, Configuration: Debug Win32 ------ 6>Build started 4/7/2011 12:06:17 PM. 6>_PrepareForClean: 6> Deleting file "../obj/Debug-VC9\vcc4CameraExample.lastbuildstate". 6>InitializeBuildStatus: 6> Creating "../obj/Debug-VC9\vcc4CameraExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 6>ClCompile: 6> vcc4CameraExample.cpp 5>RC : fatal error RC1110: could not open ../obj/Debug-VC9\gpsExample_manifest.rc 5> 5> 5>Build FAILED. 5> 5>Time Elapsed 00:00:03.23 7>------ Rebuild All started: Project: teleopActionsExample, Configuration: Debug Win32 ------ 7>Build started 4/7/2011 12:06:18 PM. 7>_PrepareForClean: 7> Deleting file "../obj/Debug-VC9\teleopActionsExample.lastbuildstate". 7>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\vcc4CameraExample.sbr' because it is being used by another process. 7>InitializeBuildStatus: 7> Creating "../obj/Debug-VC9\teleopActionsExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 7>ClCompile: 7> teleopActionsExample.cpp 6>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 6> 6>Build FAILED. 6> 6>Time Elapsed 00:00:03.65 7>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 7> 7>Build FAILED. 7> 7>Time Elapsed 00:00:03.26 8>------ Rebuild All started: Project: soundsQueueExample, Configuration: Debug Win32 ------ 8>Build started 4/7/2011 12:06:21 PM. 8>_PrepareForClean: 8> Deleting file "../obj/Debug-VC9\soundsQueueExample.lastbuildstate". 8>InitializeBuildStatus: 8> Creating "../obj/Debug-VC9\soundsQueueExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 9>------ Rebuild All started: Project: robotSyncTaskExample, Configuration: Debug Win32 ------ 8>ClCompile: 8> soundsQueueExample.cpp 9>Build started 4/7/2011 12:06:22 PM. 9>_PrepareForClean: 9> Deleting file "../obj/Debug-VC9\robotSyncTaskExample.lastbuildstate". 9>InitializeBuildStatus: 9> Creating "../obj/Debug-VC9\robotSyncTaskExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 9>ClCompile: 9> robotSyncTaskExample.cpp 9>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\CL.read.1.tlog. The file exists. 9> 9> 9> 9> 9>Build FAILED. 9> 9>Time Elapsed 00:00:02.93 8>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 8> 8>Build FAILED. 8> 8>Time Elapsed 00:00:03.12 10>------ Rebuild All started: Project: netServerExample, Configuration: Debug Win32 ------ 11>------ Rebuild All started: Project: joydriveActionExample, Configuration: Debug Win32 ------ 10>Build started 4/7/2011 12:06:25 PM. 10>_PrepareForClean: 10> Deleting file "../obj/Debug-VC9\netServerExample.lastbuildstate". 11>Build started 4/7/2011 12:06:25 PM. 10>InitializeBuildStatus: 10> Creating "../obj/Debug-VC9\netServerExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 11>_PrepareForClean: 11> Deleting file ".\../obj/Debug-VC9\joydriveActionExample.lastbuildstate". 11>InitializeBuildStatus: 11> Touching ".\../obj/Debug-VC9\joydriveActionExample.unsuccessfulbuild". 10>ClCompile: 10> netServerExample.cpp 11>ClCompile: 11> joydriveActionExample.cpp 10>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\CL.read.1.tlog. The file exists. 10> 10> 10> 10> 10>Build FAILED. 10> From: Reed Hedges [mailto:Reed.Hedges at Adept.com] On Behalf Of support mobilerobots Sent: Thursday, March 24, 2011 3:29 PM To: John Tobin Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Hi John, Add #include To the top of those files, and also change the call to inserter to instead be std::inserter Sorry for the trouble. This will also be fixed in the next ARIA revision. Reed From: John Tobin [mailto:jtobin at po-box.esu.edu] Sent: Monday, March 21, 2011 3:39 PM To: support mobilerobots Subject: FW: Do you have instructions for a normal Microsoft visual studio setup? Hello? I have tried to rebuild this DLL for visual Studio 2010. I am still getting these errors for ?inserter? in ArMapUtils and ArMapComponents [source files... Cpp] Are we missing an include? Is there something else I am missing ... This does not appear to be something normal, I appear to be missing code. What do I need to do to create this DLL library for Windows? Inserter(*(changeDetails -> get ChangedPoints...,blah,blah... Out of ?ArMapConponents?, I have openly admitted not knowing Microsoft very well, and not knowing visual studio other than the obvious. What can you do for me? J.c.Tobin ------ Forwarded Message From: John Tobin Date: Thu, 17 Mar 2011 10:18:15 -0400 To: support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Dear Reed, I am not all that familiar with visual studio I will admit. I have a linux/Unix background, but I was tasked with getting this to work on a Microsoft workstation. With that as background, I took the path you recommended, I loaded All_examples-vc2010 solution. I have played with it for about 2 days, getting a better idea of what this software does, and how it does it. In the process originally I renamed everything, but in subsequent trials, and after a couple of reinstalls of aria software, I saw that as an unnecessary step to get this up and done. I have still not found out where or how you change the ?output? of the projects to create libraries and DLLS, if you can give me a pointer there I would appreciate it. Apon building this mess I receive the messages below, with 4 builds failing, any advice on how to take care of the problem would also be appreciated. Tob 1> ArMapComponents.cpp 2>ArMapComponents.cpp(425): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(431): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(604): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(610): error C3861: 'inserter': identifier not found 2> ArMapInterface.cpp 1>ArMapComponents.cpp(425): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(431): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(604): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(610): error C3861: 'inserter': identifier not found 1> ArMapInterface.cpp 2> ArMapObject.cpp 2> ArMapUtils.cpp 1> ArMapObject.cpp 2>ArMapUtils.cpp(607): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(613): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(624): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(630): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(659): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(667): error C3861: 'inserter': identifier not found 2> ArMD5Calculator.cpp 1> ArMapUtils.cpp 2>ArMD5Calculator.cpp(71): warning C4018: '<' : signed/unsigned mismatch 2>ArMD5Calculator.cpp(71): warning C4018: '<' : signed/unsigned mismatch 2>ArMD5Calculator.cpp(75): warning C4018: '>' : signed/unsigned mismatch 1>ArMapUtils.cpp(607): error C3861: 'inserter': identifier not found 2> ArMutex.cpp 1>ArMapUtils.cpp(613): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(624): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(630): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(659): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(667): error C3861: 'inserter': identifier not found 1> ArMD5Calculator.cpp 2>ArMutex.cpp(53): warning C4018: '>=' : signed/unsigned mismatch 2>ArMutex.cpp(80): warning C4018: '>=' : signed/unsigned mismatch 2> ArNMEAParser.cpp 1> ArTrimbleGPS.cpp 1> ArURG.cpp 2> md5.cpp 2> Generating Code... 1> md5.cpp 1> Generating Code... 2> 2>Build FAILED. 2> 2>Time Elapsed 00:03:10.85 1> 1>Build FAILED. 1> 1>Time Elapsed 00:03:11.74 $$$$$ 3>------ Build started: Project: actsColorFollowingExample, Configuration: Debug Win32 ------ 4>------ Build started: Project: simpleConnect, Configuration: Debug Win32 ------ 3>Build started 3/17/2011 10:39:36 AM. 4>Build started 3/17/2011 10:39:36 AM. 3>InitializeBuildStatus: 3> Creating "../obj/Debug-VC9\actsColorFollowingExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 4>InitializeBuildStatus: 4> Creating "../obj/Debug-VC9\simpleConnect.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>ClCompile: 3> actsColorFollowingExample.cpp 4>ClCompile: 4> simpleConnect.cpp 3>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\link.read.1.tlog. The file exists. 3> 3> 3> 3> 3>Build FAILED. 3> 3>Time Elapsed 00:00:04.59 5>------ Build started: Project: gpsExample, Configuration: Debug Win32 ------ $$$$$ 24>------ Build started: Project: sickTeleop, Configuration: Debug Win32 ------ 24>Build started 3/17/2011 10:40:47 AM. 24>InitializeBuildStatus: 24> Creating "../obj/Debug-VC9\sickTeleop.unsuccessfulbuild" because "AlwaysCreate" was specified. 23>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Platforms\Win32\Microsoft.Cpp.Win32.Targets (147,5): error MSB6003: The specified task executable "CL.exe" could not be run. The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\cl.read.1.tlog' because it is being used by another process. 23> 23>Build FAILED. 23> 23>Time Elapsed 00:00:06.22 24>ClCompile: 24> sickTeleop.cpp From: Reed Hedges [mailto:Reed.Hedges at Adept.com] On Behalf Of support mobilerobots Sent: Friday, March 11, 2011 12:37 PM To: John Tobin; support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Open the Aria-vs2008.sln file using Visual Studio 2010. It will convert the solution (go through the wizard) and all of the project files (*-vc2008.vcproj) files that it references. Do the same for the ArNetworking solution, and if you wish, the All Examples solution. The new project files will be named *-vc2008.vcxproj. The ?vc2008? part is then inaccurate, so you could rename them but then need to replace the references in the solution file and also reconstruct the inter-project dependencies. It would also be a good idea to change the ?output? of the projects to create libraries and DLLs that include ?VC10? in the name instead of ?VC9? (e.g. Aria-vc2008.vcproj creates AriaVC9.dll and AriaVC9.lib, instead for VC 2010 you can change it to produce AriaVC10.dll and AriaVC10.lib in the Linker settings; any programs that link to Aria then need to have the name of the library changed in their Linker Input field). In general you may want to verify the project dependencies. They are: ArNetworkingDLL depends on AriaDLL ArNetworkingStatic depends on AriaStatic Any ARIA example depends on AriaDLL Any static ARIA example depends on AriaStatic Any ArNetworking example depends on ArNetworking Any static ArNetworking example depends on ArNetworkingStatic Then use ?Rebuild All?. In general the settings are the same as the ones documented at http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings for the older versions. One nice new feature of 2010 is its ability to do parallel compilation within a project, you can enable this if you have multiple cores. Reed From: John Tobin [mailto:jtobin at po-box.esu.edu] Sent: Thursday, March 10, 2011 12:10 PM To: support mobilerobots Subject: Re: Do you have instructions for a normal Microsoft visual studio setup? I will be using Microsoft Visual Studio 2010. Please forward procedures for the file conversion, or let me know where I can find the converted files. tob On 3/9/11 12:32 PM, "support mobilerobots" wrote: Hi John, ARIA (http://robots.mobilerobots.com/wiki/ARIA) comes with Solution and Project files for Visual Studio 2003 and 2008. Check C:\Program Files\MobileRobots\Aria after installation. For the demo example, open the ?All Examples? solution in the examples subdirectory. Visual Studio 2010 does work but you need to convert the 2008 project files, so let me know if you need to use 2010 instead of 2008. Instructions for setting up a new project to link to the ARIA library are in the README.txt file and also here as well: http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings Does this help? ------ End of Forwarded Message ------ End of Forwarded Message -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110411/55861a4e/attachment-0001.html From zhossain.kuet at yahoo.com Mon Apr 11 09:15:51 2011 From: zhossain.kuet at yahoo.com (Hossain, Md.Z) Date: Mon, 11 Apr 2011 06:15:51 -0700 (PDT) Subject: [Aria-users] Failed to connect to robot on windows 7 In-Reply-To: <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0252BE6FE1@SRV-APP-6.adept.local> <730872.26412.qm@web46407.mail.sp1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> <675503.1923.qm@web46413.mail.sp1.yahoo.com> <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> Message-ID: <458787.47123.qm@web46403.mail.sp1.yahoo.com> Hi Nicolas, Thanks a lot mate.....damn...i gave wrong port add...kind of new on windows...... Now it's working.....from another directory as well....... thanks again hossain ________________________________ From: "tsokas at ekt.gr" To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" Sent: Tue, April 12, 2011 12:10:53 AM Subject: Re: [Aria-users] Failed to connect to robot on windows 7 Hi Hossain, How exactly have you issued demo command from Windows? Like: "demo.exe -rp COM3" ? I guess you are using a usb-to-serial cable. Go to My Computer --> Properties --> Hardware --> Device Manager. Under "Ports" you can find which serial port (COM3 or whatever) your usb-to-serial cable has been mapped to. Try issuing demo.exe with the correct port (if not done already). Best regards, Nicolas Tsokas National Technical University of Athens > Hi there, > > I was trying to use demo program from example on windows 7(visual studio > 2008 > and Aria 2.7.2). But getting these message........ please help > > Could not connect to simulator, connecting to robot through serial port > COM3. > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: > Type: > Subtype: > Error: Have no parameters for this robot, bad configuration or out of date > Aria > Failed to connect to robot. > Error, could not connect to robot. > > > Thanks in advance > Hossain > > > > > ________________________________ > From: Reed Hedges > To: ariausers > Sent: Wed, March 23, 2011 5:29:29 AM > Subject: Re: [Aria-users] Laser mode failed to connect to the laser > > > Hello, sorry for the delay, do you still have this problem? > > I would try to verify both the physical connection to the laser and also > that > /dev/ttyUSB1 still works in Linux (you could plug the robot into the > laser's > serial interface and try ./demo -rp /dev/ttyUSB1). Since USB devices are > removable Linux might assign a different name under some conditions. (You > could > look at dmesg for relevant log messages). > > Are you powering the laser directly or are you using our laser power > controller > board (its normally inside the black laser bracket, so if you are just > using the > existing cabling, it would be involved). The operation of this controller > is > described a bit here and may help: > http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board > > Reed > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossain, > Md.Z > Sent: Tuesday, March 22, 2011 8:49 AM > To: ariausers > Subject: [Aria-users] Laser mode failed to connect to the laser > > Hi everyone, > > I am trying to run the demo program from Aria/example using "./demo -rp > /dev/ttyUSB0 -lp /dev/ttyUSB1" command. Robot is being connected but when > i'm > trying to go in laser mode i'm getting this message......... > You are in 'laser' mode currently. > > Laser mode connects to a laser, or uses a previously established > connection. > Laser mode then displays the closest and furthest reading from the laser. > 'z' or 'Z': toggle between far reading and middle reading with > reflectivity > 1: lms2xx_1 > > ArModeLaser is connecting to lms2xx_1. > lms2xx_1: waiting for laser to power on. > lms2xx_1: Failed to connect to laser, no poweron received. > > Laser mode failed to connect to the laser. > > Switch out of this mode and back to try reconnecting. > > Warning: ArRobot sync tasks too long at 306 ms, (100 ms normal 250 ms > warning) > > But few days ego, it was working perfectly.....Please help me as soon as > possible....... > > For your kind information...... > OS: Obuntu 10.04 > ARIA Version 2.7.2 > Robot: Pioneer 3 > > Thanks in advance > Hossain > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > 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/20110411/e8fa3c63/attachment.html From markus.klotzbucher at mech.kuleuven.be Tue Apr 12 08:58:10 2011 From: markus.klotzbucher at mech.kuleuven.be (Markus Klotzbucher) Date: Tue, 12 Apr 2011 14:58:10 +0200 Subject: [Aria-users] patch for generating Lua bindings and small bugfix In-Reply-To: <20110412120920.GA22653@PMA-10-048> References: <20110412120920.GA22653@PMA-10-048> Message-ID: <20110412125810.GA3991@PMA-10-048> Dear List, I've been using libAria on a pioneer robot and extended the swig specifications to produce Lua bindings. The second patch is a fix to an unresolved symbol error I received when trying to load the generated module. Best regards Markus From markus.klotzbucher at mech.kuleuven.be Tue Apr 12 09:03:57 2011 From: markus.klotzbucher at mech.kuleuven.be (Markus Klotzbuecher) Date: Tue, 12 Apr 2011 15:03:57 +0200 Subject: [Aria-users] [PATCH 1/2] Remove unimplemented method which causes unresolved symbol errors in swig generated bindings In-Reply-To: <20110412125810.GA3991@PMA-10-048> References: <20110412120920.GA22653@PMA-10-048> <20110412125810.GA3991@PMA-10-048> Message-ID: <20110412130357.GA4233@PMA-10-048> This is also most likely the cause of the following bugreport: http://lists.mobilerobots.com/pipermail/aria-users/2010-July/001049.html --- include/ArLMS1XX.h | 2 -- 1 files changed, 0 insertions(+), 2 deletions(-) diff --git a/include/ArLMS1XX.h b/include/ArLMS1XX.h index c51e113..4d8fab5 100644 --- a/include/ArLMS1XX.h +++ b/include/ArLMS1XX.h @@ -148,8 +148,6 @@ public: return false; } - /// Logs the information about the sensor - AREXPORT void log(void); protected: AREXPORT virtual void laserSetName(const char *name); AREXPORT virtual void * runThread(void *arg); -- 1.7.4.1 From markus.klotzbucher at mech.kuleuven.be Tue Apr 12 09:07:03 2011 From: markus.klotzbucher at mech.kuleuven.be (Markus Klotzbuecher) Date: Tue, 12 Apr 2011 15:07:03 +0200 Subject: [Aria-users] [PATCH 2/2] Add support for generating Lua bindings In-Reply-To: <20110412130357.GA4233@PMA-10-048> References: <20110412120920.GA22653@PMA-10-048> <20110412125810.GA3991@PMA-10-048> <20110412130357.GA4233@PMA-10-048> Message-ID: <20110412130703.GA25981@PMA-10-048> --- Makefile | 26 ++++++++++++++++++++++++-- include/wrapper.i | 15 +++++++++------ 2 files changed, 33 insertions(+), 8 deletions(-) diff --git a/Makefile b/Makefile index 32b3928..6ce4e8d 100644 --- a/Makefile +++ b/Makefile @@ -262,6 +262,8 @@ help: @echo " examples" @echo " tests" @echo " utils" + @echo " lua" + @echo " clean_lua" @echo " python" @echo " cleanPython" @echo " java" @@ -304,7 +306,7 @@ moreinfo: clean: cleanUtils cleanExamples cleanModules cleanTests cleanAdvanced - -rm -f lib/libAria.a lib/libAria.so $(OFILES) `find . -name core` `find . -name '*~'` obj/AriaPy.o obj/AriaJava.o + -rm -f lib/libAria.a lib/libAria.so $(OFILES) `find . -name core` `find . -name '*~'` obj/AriaPy.o obj/AriaJava.o lua/* cleanUtils: -rm -f $(UTILS) @@ -398,6 +400,26 @@ checkAll: #### Swig wrappers #### +### Lua wrappers: ### + + +lua: lib/libAria.so luadir lua/aria.so + +luadir: + -mkdir -p lua + +lua/aria_wrapper.cpp: include/wrapper.i include/*.h + swig -Wall -c++ -lua -module aria -Dlinux -DAREXPORT -o $@ -Iinclude/ $< + +obj/aria_wrapper.o: lua/aria_wrapper.cpp + $(CXX) -c -fPIC -g -Wall -D_REENTRANT -Iinclude/ -I/usr/include/lua5.1/ $< -o $@ + +lua/aria.so: obj/aria_wrapper.o Makefile.dep + $(CXX) -shared -lrt -lpthread -ldl -Llib/ -lAria $< -o $@ + +clean_lua: + rm -rf lua + ### Python wrapper: ### @@ -648,7 +670,7 @@ install: ### ### Make optimization, tell it what rules aren't files: ### -.PHONY: all everything examples modExamples tests advanced utils cleanDep docs doc dirs help info moreinfo clean cleanUtils cleanExamples cleanTests cleanAdvanced cleanModules cleanDoc cleanPython dep depAll cleanAll params allLibs python python-doc java cleanJava install alllibs arnetworking_swig arnetworking_docs params swig help info moreinfo py python-doc cleanSwigJava dist-install checkAll +.PHONY: all everything examples modExamples tests advanced utils cleanDep docs doc dirs help info moreinfo clean cleanUtils cleanExamples cleanTests cleanAdvanced cleanModules clean_lua lua cleanDoc cleanPython dep depAll cleanAll params allLibs python python-doc java cleanJava install alllibs arnetworking_swig arnetworking_docs params swig help info moreinfo py python-doc cleanSwigJava dist-install checkAll ### Autogenerated dependencies: # Just see if there is a Makefile.dep, if so include one... there diff --git a/include/wrapper.i b/include/wrapper.i index 3cf9720..676fb38 100644 --- a/include/wrapper.i +++ b/include/wrapper.i @@ -34,18 +34,19 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 */ %module(directors="1", docstring="Python wrapper library for Aria") AriaPy -#else -# ifdef SWIGJAVA +#elif SWIGJAVA /*# warning Defining ARIA wrapper interface for Java*/ %module(directors="1", docstring="Java wrapper library for Aria") AriaJava +#elif SWIGLUA +%module(directors="1", docstring="Lua wrapper library for Aria") AriaLua # else -# warning Defining ARIA wrapper interface for something other that Java or Python. This might be an error. + +# warning Defining ARIA wrapper interface for something other that Java, Python or Lua. This might be an error. %module(directors="1", docstring="Wrapper library for Aria") Aria -# endif #endif #ifdef SWIGIMPORTED @@ -390,8 +391,10 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 /*#ifndef SWIGJAVA*/ /* doesn't have std_list.i */ #ifdef SWIGJAVA %include "wrapper_std_list_java.i" -#else +#elif SWIGPYTHON %include "std_list.i" +#elif SWIGLUA +%include "wrapper_std_list_java.i" #endif %template(ArMapObjectPtrList) std::list; @@ -406,7 +409,7 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 %template(ArLineSegmentPtrList) std::list; /*#endif*/ -#ifndef SWIGJAVA /* doesn't have set */ +#ifdef SWIGPYTHON /* doesn't have set */ %include "std_set.i" %template(IntSet) std::set; #endif -- 1.7.4.1 From ynilsiam at mtu.edu Tue Apr 12 10:30:52 2011 From: ynilsiam at mtu.edu (Yuenyong Nilsiam) Date: Tue, 12 Apr 2011 10:30:52 -0400 (EDT) Subject: [Aria-users] Multi robot Message-ID: <348129921.10609111302618652468.JavaMail.root@zcs-mbs03.it.mtu.edu> Hi all, I am doing the particle filter localization. I am confusing how could I have multiple robot as particles, so I can read the data from them. Please, I really need helps. Thank you so much. Ake From ynilsiam at mtu.edu Tue Apr 12 15:13:40 2011 From: ynilsiam at mtu.edu (Yuenyong Nilsiam) Date: Tue, 12 Apr 2011 15:13:40 -0400 (EDT) Subject: [Aria-users] Monte Carlo Localization Message-ID: <1536379336.10705341302635620016.JavaMail.root@zcs-mbs03.it.mtu.edu> Dear all, I am using ARIA and MobileSim to do Monte Carlo Localization. After I random the particles, how can I get the sensor data for each particle? Please give me some example if you can. Thank you so much. Best regards, Ake From Reed.Hedges at Adept.com Thu Apr 14 09:15:44 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 06:15:44 -0700 Subject: [Aria-users] Monte Carlo Localization In-Reply-To: <1536379336.10705341302635620016.JavaMail.root@zcs-mbs03.it.mtu.edu> References: <1536379336.10705341302635620016.JavaMail.root@zcs-mbs03.it.mtu.edu> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC380@SRV-APP-6.adept.local> Hello, Can you expand on your question? Are you using laser data? ARIA normally provides detected laser points in the global coordinate system (i.e. the same as the robot position), and there are some tools to transform positions. You can also get the range (distance from robot) if you want to use that instead as well. Reed -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Yuenyong Nilsiam Sent: Tuesday, April 12, 2011 3:14 PM To: ariausers Subject: [Aria-users] Monte Carlo Localization Dear all, I am using ARIA and MobileSim to do Monte Carlo Localization. After I random the particles, how can I get the sensor data for each particle? Please give me some example if you can. Thank you so much. Best regards, Ake _______________________________________________ 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: 4466 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/253a6be5/attachment.bin From Reed.Hedges at Adept.com Thu Apr 14 09:17:33 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 06:17:33 -0700 Subject: [Aria-users] [PATCH 2/2] Add support for generating Lua bindings In-Reply-To: <20110412130703.GA25981@PMA-10-048> References: <20110412120920.GA22653@PMA-10-048> <20110412125810.GA3991@PMA-10-048> <20110412130357.GA4233@PMA-10-048> <20110412130703.GA25981@PMA-10-048> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC383@SRV-APP-6.adept.local> Thanks! Did you have any problems getting this to work or was it pretty straightforward? I don't have any experience with Lua so am not sure yet if we will bring this into the release since I wouldn't really be able to test, maintain or support it too much, but if any users out there would find it useful let me know and can add it. Reed -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Markus Klotzbuecher Sent: Tuesday, April 12, 2011 9:07 AM To: ariausers Subject: [Aria-users] [PATCH 2/2] Add support for generating Lua bindings --- Makefile | 26 ++++++++++++++++++++++++-- include/wrapper.i | 15 +++++++++------ 2 files changed, 33 insertions(+), 8 deletions(-) diff --git a/Makefile b/Makefile index 32b3928..6ce4e8d 100644 --- a/Makefile +++ b/Makefile @@ -262,6 +262,8 @@ help: @echo " examples" @echo " tests" @echo " utils" + @echo " lua" + @echo " clean_lua" @echo " python" @echo " cleanPython" @echo " java" @@ -304,7 +306,7 @@ moreinfo: clean: cleanUtils cleanExamples cleanModules cleanTests cleanAdvanced - -rm -f lib/libAria.a lib/libAria.so $(OFILES) `find . -name core` `find . -name '*~'` obj/AriaPy.o obj/AriaJava.o + -rm -f lib/libAria.a lib/libAria.so $(OFILES) `find . -name core` `find . -name '*~'` obj/AriaPy.o obj/AriaJava.o lua/* cleanUtils: -rm -f $(UTILS) @@ -398,6 +400,26 @@ checkAll: #### Swig wrappers #### +### Lua wrappers: ### + + +lua: lib/libAria.so luadir lua/aria.so + +luadir: + -mkdir -p lua + +lua/aria_wrapper.cpp: include/wrapper.i include/*.h + swig -Wall -c++ -lua -module aria -Dlinux -DAREXPORT -o $@ -Iinclude/ $< + +obj/aria_wrapper.o: lua/aria_wrapper.cpp + $(CXX) -c -fPIC -g -Wall -D_REENTRANT -Iinclude/ -I/usr/include/lua5.1/ $< -o $@ + +lua/aria.so: obj/aria_wrapper.o Makefile.dep + $(CXX) -shared -lrt -lpthread -ldl -Llib/ -lAria $< -o $@ + +clean_lua: + rm -rf lua + ### Python wrapper: ### @@ -648,7 +670,7 @@ install: ### ### Make optimization, tell it what rules aren't files: ### -.PHONY: all everything examples modExamples tests advanced utils cleanDep docs doc dirs help info moreinfo clean cleanUtils cleanExamples cleanTests cleanAdvanced cleanModules cleanDoc cleanPython dep depAll cleanAll params allLibs python python-doc java cleanJava install alllibs arnetworking_swig arnetworking_docs params swig help info moreinfo py python-doc cleanSwigJava dist-install checkAll +.PHONY: all everything examples modExamples tests advanced utils cleanDep docs doc dirs help info moreinfo clean cleanUtils cleanExamples cleanTests cleanAdvanced cleanModules clean_lua lua cleanDoc cleanPython dep depAll cleanAll params allLibs python python-doc java cleanJava install alllibs arnetworking_swig arnetworking_docs params swig help info moreinfo py python-doc cleanSwigJava dist-install checkAll ### Autogenerated dependencies: # Just see if there is a Makefile.dep, if so include one... there diff --git a/include/wrapper.i b/include/wrapper.i index 3cf9720..676fb38 100644 --- a/include/wrapper.i +++ b/include/wrapper.i @@ -34,18 +34,19 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 */ %module(directors="1", docstring="Python wrapper library for Aria") AriaPy -#else -# ifdef SWIGJAVA +#elif SWIGJAVA /*# warning Defining ARIA wrapper interface for Java*/ %module(directors="1", docstring="Java wrapper library for Aria") AriaJava +#elif SWIGLUA +%module(directors="1", docstring="Lua wrapper library for Aria") AriaLua # else -# warning Defining ARIA wrapper interface for something other that Java or Python. This might be an error. + +# warning Defining ARIA wrapper interface for something other that Java, Python or Lua. This might be an error. %module(directors="1", docstring="Wrapper library for Aria") Aria -# endif #endif #ifdef SWIGIMPORTED @@ -390,8 +391,10 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 /*#ifndef SWIGJAVA*/ /* doesn't have std_list.i */ #ifdef SWIGJAVA %include "wrapper_std_list_java.i" -#else +#elif SWIGPYTHON %include "std_list.i" +#elif SWIGLUA +%include "wrapper_std_list_java.i" #endif %template(ArMapObjectPtrList) std::list; @@ -406,7 +409,7 @@ MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 %template(ArLineSegmentPtrList) std::list; /*#endif*/ -#ifndef SWIGJAVA /* doesn't have set */ +#ifdef SWIGPYTHON /* doesn't have set */ %include "std_set.i" %template(IntSet) std::set; #endif -- 1.7.4.1 _______________________________________________ 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. 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Name: winmail.dat Type: application/ms-tnef Size: 6445 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/89121324/attachment.bin From Reed.Hedges at Adept.com Thu Apr 14 09:17:57 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 06:17:57 -0700 Subject: [Aria-users] [PATCH 1/2] Remove unimplemented method which causes unresolved symbol errors in swig generated bindings In-Reply-To: <20110412130357.GA4233@PMA-10-048> References: <20110412120920.GA22653@PMA-10-048> <20110412125810.GA3991@PMA-10-048> <20110412130357.GA4233@PMA-10-048> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC385@SRV-APP-6.adept.local> Thanks and apologies for the error, this is fixed for the next ARIA release. -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Markus Klotzbuecher Sent: Tuesday, April 12, 2011 9:04 AM To: ariausers Subject: [Aria-users] [PATCH 1/2] Remove unimplemented method which causes unresolved symbol errors in swig generated bindings This is also most likely the cause of the following bugreport: http://lists.mobilerobots.com/pipermail/aria-users/2010-July/001049.html --- include/ArLMS1XX.h | 2 -- 1 files changed, 0 insertions(+), 2 deletions(-) diff --git a/include/ArLMS1XX.h b/include/ArLMS1XX.h index c51e113..4d8fab5 100644 --- a/include/ArLMS1XX.h +++ b/include/ArLMS1XX.h @@ -148,8 +148,6 @@ public: return false; } - /// Logs the information about the sensor - AREXPORT void log(void); protected: AREXPORT virtual void laserSetName(const char *name); AREXPORT virtual void * runThread(void *arg); -- 1.7.4.1 _______________________________________________ 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 -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 5154 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/b98bc5a5/attachment-0001.bin From markus.klotzbucher at mech.kuleuven.be Thu Apr 14 09:44:49 2011 From: markus.klotzbucher at mech.kuleuven.be (Markus Klotzbuecher) Date: Thu, 14 Apr 2011 15:44:49 +0200 Subject: [Aria-users] [PATCH 2/2] Add support for generating Lua bindings In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC383@SRV-APP-6.adept.local> References: <20110412120920.GA22653@PMA-10-048> <20110412125810.GA3991@PMA-10-048> <20110412130357.GA4233@PMA-10-048> <20110412130703.GA25981@PMA-10-048> <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC383@SRV-APP-6.adept.local> Message-ID: <20110414134449.GA933@PMA-10-048> Hi Reed, On Thu, Apr 14, 2011 at 03:17:33PM +0200, Reed Hedges wrote: > Thanks! Did you have any problems getting this to work or was it > pretty straightforward? It was mostly straightforward :-) > I don't have any experience with Lua so am not sure yet if we will > bring this into the release since I wouldn't really be able to test, > maintain or support it too much, but if any users out there would > find it useful let me know and can add it. I understand, I just wanted to get it out in case somebody finds it usefull.. Best regards Markus From Reed.Hedges at Adept.com Thu Apr 14 10:03:54 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 07:03:54 -0700 Subject: [Aria-users] FW: Do you have instructions for a normal Microsoft visual studio setup? In-Reply-To: References: <86F4E1A17D52D843BF778D314884A8D01B1031@morticia.admin.esu.edu> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC39F@SRV-APP-6.adept.local> This looks like a file permissions issue. Is your user account an administrator? I can also check this again now or before the next release. (You could also make sure those files aren't open by another program or Visual Studio, but I don't think that's the problem here.) From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of John Tobin Sent: Monday, April 11, 2011 9:04 AM To: ariausers Cc: support mobilerobots Subject: [Aria-users] FW: Do you have instructions for a normal Microsoft visual studio setup? Hey, Has anybody run into this stuff? I am using microsoft visual studio with C++ to rebuild the demo, make sure this works with studio 2010. I have had some problems [see the #includes below] and resolved them. After that I am getting build errors listed [directly] below. I will admit being a newbie to mobilerobots, and visual Studio [2010] Until recently worked mostly in the unix world. Any assistance would be greatly appreciated. But these errors almost sound like I am missing part of what is required to build.... I did a full install of the disk shipped with the robot, and it sounds like I am missing files. Watzup? Is there a place I can down load this stuff from? Sincerely, tob ------ Forwarded Message From: John Tobin Date: Thu, 7 Apr 2011 10:57:14 -0400 To: support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Sorry, I have not followed up on this, sorry, this project got upstaged by some other problems. The instructions you have given worked well, now I am facing a different problem listed below. What can you do for me? I find for instance: Volume in drive C is Vista Volume Serial Number is F448-A816 Directory of C:\Program Files\MobileRobots\Aria\obj\Debug-VC9 04/07/2011 12:01 PM 34,398 AriaDLL.Build.CppClean.log 04/07/2011 12:06 PM 71 AriaDLL.lastbuildstate 04/07/2011 12:06 PM 23,494 AriaDLLBuildLog.htm 04/07/2011 12:06 PM 569 armExample.Build.CppClean.log 04/07/2011 12:06 PM 71 armExample.lastbuildstate 04/07/2011 12:06 PM 0 armExample.unsuccessfulbuild 04/07/2011 12:06 PM 1,755 armExampleBuildLog.htm 7 File(s) 60,358 bytes 0 Dir(s) 52,868,292,608 bytes free In \program files\mobilerobots\aria\obj\debug-vc-9. But none of the files listed below. And I find in \program files\mobilerobots\aria\bin Ariadebug.lib and ariadebug.dll What would you suggest? Thanks tob >Build succeeded. 1> 1>Time Elapsed 00:04:19.76 3>------ Rebuild All started: Project: actsColorFollowingExample, Configuration: Debug Win32 ------ 4>------ Rebuild All started: Project: simpleConnect, Configuration: Debug Win32 ------ 4>Build started 4/7/2011 12:06:11 PM. 4>_PrepareForClean: 4> Deleting file "../obj/Debug-VC9\simpleConnect.lastbuildstate". 3>Build started 4/7/2011 12:06:11 PM. 3>_PrepareForClean: 3> Deleting file "../obj/Debug-VC9\actsColorFollowingExample.lastbuildstate". 3>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARACTIONDESIRED.SBR' is denied. 3>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARFILEPARSER.OBJ' is denied. 4>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : Access to the path 'C:\PROGRAM FILES\MOBILEROBOTS\ARIA\OBJ\DEBUG-VC9\ARLOG.OBJ' is denied. 4>InitializeBuildStatus: 4> Creating "../obj/Debug-VC9\simpleConnect.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>InitializeBuildStatus: 3> Creating "../obj/Debug-VC9\actsColorFollowingExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>ClCompile: 3> actsColorFollowingExample.cpp 4>ClCompile: 4> simpleConnect.cpp 4>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 4> 4>Build FAILED. 4> Followed by related [I assume]: Build started 4/7/2011 12:06:14 PM. 5>_PrepareForClean: 5> Deleting file "../obj/Debug-VC9\gpsExample.lastbuildstate". 5>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\actsColorFollowingExample.sbr' because it is being used by another process. 5>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\vc100.pdb' because it is being used by another process. 5>InitializeBuildStatus: 5> Creating "../obj/Debug-VC9\gpsExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 5>ClCompile: 5> gpsExample.cpp 3>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 3> 3>Build FAILED. 3> 3>Time Elapsed 00:00:06.26 6>------ Rebuild All started: Project: vcc4CameraExample, Configuration: Debug Win32 ------ 6>Build started 4/7/2011 12:06:17 PM. 6>_PrepareForClean: 6> Deleting file "../obj/Debug-VC9\vcc4CameraExample.lastbuildstate". 6>InitializeBuildStatus: 6> Creating "../obj/Debug-VC9\vcc4CameraExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 6>ClCompile: 6> vcc4CameraExample.cpp 5>RC : fatal error RC1110: could not open ../obj/Debug-VC9\gpsExample_manifest.rc 5> 5> 5>Build FAILED. 5> 5>Time Elapsed 00:00:03.23 7>------ Rebuild All started: Project: teleopActionsExample, Configuration: Debug Win32 ------ 7>Build started 4/7/2011 12:06:18 PM. 7>_PrepareForClean: 7> Deleting file "../obj/Debug-VC9\teleopActionsExample.lastbuildstate". 7>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Microsoft.CppClean.targets(74,5): warning : The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\vcc4CameraExample.sbr' because it is being used by another process. 7>InitializeBuildStatus: 7> Creating "../obj/Debug-VC9\teleopActionsExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 7>ClCompile: 7> teleopActionsExample.cpp 6>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 6> 6>Build FAILED. 6> 6>Time Elapsed 00:00:03.65 7>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 7> 7>Build FAILED. 7> 7>Time Elapsed 00:00:03.26 8>------ Rebuild All started: Project: soundsQueueExample, Configuration: Debug Win32 ------ 8>Build started 4/7/2011 12:06:21 PM. 8>_PrepareForClean: 8> Deleting file "../obj/Debug-VC9\soundsQueueExample.lastbuildstate". 8>InitializeBuildStatus: 8> Creating "../obj/Debug-VC9\soundsQueueExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 9>------ Rebuild All started: Project: robotSyncTaskExample, Configuration: Debug Win32 ------ 8>ClCompile: 8> soundsQueueExample.cpp 9>Build started 4/7/2011 12:06:22 PM. 9>_PrepareForClean: 9> Deleting file "../obj/Debug-VC9\robotSyncTaskExample.lastbuildstate". 9>InitializeBuildStatus: 9> Creating "../obj/Debug-VC9\robotSyncTaskExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 9>ClCompile: 9> robotSyncTaskExample.cpp 9>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\CL.read.1.tlog. The file exists. 9> 9> 9> 9> 9>Build FAILED. 9> 9>Time Elapsed 00:00:02.93 8>LINK : fatal error LNK1181: cannot open input file 'AriaDebugVC9.lib' 8> 8>Build FAILED. 8> 8>Time Elapsed 00:00:03.12 10>------ Rebuild All started: Project: netServerExample, Configuration: Debug Win32 ------ 11>------ Rebuild All started: Project: joydriveActionExample, Configuration: Debug Win32 ------ 10>Build started 4/7/2011 12:06:25 PM. 10>_PrepareForClean: 10> Deleting file "../obj/Debug-VC9\netServerExample.lastbuildstate". 11>Build started 4/7/2011 12:06:25 PM. 10>InitializeBuildStatus: 10> Creating "../obj/Debug-VC9\netServerExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 11>_PrepareForClean: 11> Deleting file ".\../obj/Debug-VC9\joydriveActionExample.lastbuildstate". 11>InitializeBuildStatus: 11> Touching ".\../obj/Debug-VC9\joydriveActionExample.unsuccessfulbuild". 10>ClCompile: 10> netServerExample.cpp 11>ClCompile: 11> joydriveActionExample.cpp 10>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\CL.read.1.tlog. The file exists. 10> 10> 10> 10> 10>Build FAILED. 10> From: Reed Hedges [mailto:Reed.Hedges at Adept.com] On Behalf Of support mobilerobots Sent: Thursday, March 24, 2011 3:29 PM To: John Tobin Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Hi John, Add #include To the top of those files, and also change the call to inserter to instead be std::inserter Sorry for the trouble. This will also be fixed in the next ARIA revision. Reed From: John Tobin [mailto:jtobin at po-box.esu.edu] Sent: Monday, March 21, 2011 3:39 PM To: support mobilerobots Subject: FW: Do you have instructions for a normal Microsoft visual studio setup? Hello? I have tried to rebuild this DLL for visual Studio 2010. I am still getting these errors for 'inserter' in ArMapUtils and ArMapComponents [source files... Cpp] Are we missing an include? Is there something else I am missing ... This does not appear to be something normal, I appear to be missing code. What do I need to do to create this DLL library for Windows? Inserter(*(changeDetails -> get ChangedPoints...,blah,blah... Out of 'ArMapConponents', I have openly admitted not knowing Microsoft very well, and not knowing visual studio other than the obvious. What can you do for me? J.c.Tobin ------ Forwarded Message From: John Tobin Date: Thu, 17 Mar 2011 10:18:15 -0400 To: support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Dear Reed, I am not all that familiar with visual studio I will admit. I have a linux/Unix background, but I was tasked with getting this to work on a Microsoft workstation. With that as background, I took the path you recommended, I loaded All_examples-vc2010 solution. I have played with it for about 2 days, getting a better idea of what this software does, and how it does it. In the process originally I renamed everything, but in subsequent trials, and after a couple of reinstalls of aria software, I saw that as an unnecessary step to get this up and done. I have still not found out where or how you change the "output" of the projects to create libraries and DLLS, if you can give me a pointer there I would appreciate it. Apon building this mess I receive the messages below, with 4 builds failing, any advice on how to take care of the problem would also be appreciated. Tob 1> ArMapComponents.cpp 2>ArMapComponents.cpp(425): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(431): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(604): error C3861: 'inserter': identifier not found 2>ArMapComponents.cpp(610): error C3861: 'inserter': identifier not found 2> ArMapInterface.cpp 1>ArMapComponents.cpp(425): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(431): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(604): error C3861: 'inserter': identifier not found 1>ArMapComponents.cpp(610): error C3861: 'inserter': identifier not found 1> ArMapInterface.cpp 2> ArMapObject.cpp 2> ArMapUtils.cpp 1> ArMapObject.cpp 2>ArMapUtils.cpp(607): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(613): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(624): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(630): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(659): error C3861: 'inserter': identifier not found 2>ArMapUtils.cpp(667): error C3861: 'inserter': identifier not found 2> ArMD5Calculator.cpp 1> ArMapUtils.cpp 2>ArMD5Calculator.cpp(71): warning C4018: '<' : signed/unsigned mismatch 2>ArMD5Calculator.cpp(71): warning C4018: '<' : signed/unsigned mismatch 2>ArMD5Calculator.cpp(75): warning C4018: '>' : signed/unsigned mismatch 1>ArMapUtils.cpp(607): error C3861: 'inserter': identifier not found 2> ArMutex.cpp 1>ArMapUtils.cpp(613): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(624): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(630): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(659): error C3861: 'inserter': identifier not found 1>ArMapUtils.cpp(667): error C3861: 'inserter': identifier not found 1> ArMD5Calculator.cpp 2>ArMutex.cpp(53): warning C4018: '>=' : signed/unsigned mismatch 2>ArMutex.cpp(80): warning C4018: '>=' : signed/unsigned mismatch 2> ArNMEAParser.cpp <...> 1> ArTrimbleGPS.cpp 1> ArURG.cpp 2> md5.cpp 2> Generating Code... 1> md5.cpp 1> Generating Code... 2> 2>Build FAILED. 2> 2>Time Elapsed 00:03:10.85 1> 1>Build FAILED. 1> 1>Time Elapsed 00:03:11.74 $$$$$ 3>------ Build started: Project: actsColorFollowingExample, Configuration: Debug Win32 ------ 4>------ Build started: Project: simpleConnect, Configuration: Debug Win32 ------ 3>Build started 3/17/2011 10:39:36 AM. 4>Build started 3/17/2011 10:39:36 AM. 3>InitializeBuildStatus: 3> Creating "../obj/Debug-VC9\actsColorFollowingExample.unsuccessfulbuild" because "AlwaysCreate" was specified. 4>InitializeBuildStatus: 4> Creating "../obj/Debug-VC9\simpleConnect.unsuccessfulbuild" because "AlwaysCreate" was specified. 3>ClCompile: 3> actsColorFollowingExample.cpp 4>ClCompile: 4> simpleConnect.cpp 3>FileTracker : error FTK1011: could not create the new file tracking log file: C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\link.read.1.tlog. The file exists. 3> 3> 3> 3> 3>Build FAILED. 3> 3>Time Elapsed 00:00:04.59 5>------ Build started: Project: gpsExample, Configuration: Debug Win32 ------ $$$$$ 24>------ Build started: Project: sickTeleop, Configuration: Debug Win32 ------ 24>Build started 3/17/2011 10:40:47 AM. 24>InitializeBuildStatus: 24> Creating "../obj/Debug-VC9\sickTeleop.unsuccessfulbuild" because "AlwaysCreate" was specified. 23>C:\Program Files\MSBuild\Microsoft.Cpp\v4.0\Platforms\Win32\Microsoft.Cpp.Win32.Targets(147,5): error MSB6003: The specified task executable "CL.exe" could not be run. The process cannot access the file 'C:\Program Files\MobileRobots\Aria\obj\Debug-VC9\cl.read.1.tlog' because it is being used by another process. 23> 23>Build FAILED. 23> 23>Time Elapsed 00:00:06.22 24>ClCompile: 24> sickTeleop.cpp From: Reed Hedges [mailto:Reed.Hedges at Adept.com] On Behalf Of support mobilerobots Sent: Friday, March 11, 2011 12:37 PM To: John Tobin; support mobilerobots Subject: RE: Do you have instructions for a normal Microsoft visual studio setup? Open the Aria-vs2008.sln file using Visual Studio 2010. It will convert the solution (go through the wizard) and all of the project files (*-vc2008.vcproj) files that it references. Do the same for the ArNetworking solution, and if you wish, the All Examples solution. The new project files will be named *-vc2008.vcxproj. The "vc2008" part is then inaccurate, so you could rename them but then need to replace the references in the solution file and also reconstruct the inter-project dependencies. It would also be a good idea to change the "output" of the projects to create libraries and DLLs that include "VC10" in the name instead of "VC9" (e.g. Aria-vc2008.vcproj creates AriaVC9.dll and AriaVC9.lib, instead for VC 2010 you can change it to produce AriaVC10.dll and AriaVC10.lib in the Linker settings; any programs that link to Aria then need to have the name of the library changed in their Linker Input field). In general you may want to verify the project dependencies. They are: ArNetworkingDLL depends on AriaDLL ArNetworkingStatic depends on AriaStatic Any ARIA example depends on AriaDLL Any static ARIA example depends on AriaStatic Any ArNetworking example depends on ArNetworking Any static ArNetworking example depends on ArNetworkingStatic Then use "Rebuild All". In general the settings are the same as the ones documented at http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings for the older versions. One nice new feature of 2010 is its ability to do parallel compilation within a project, you can enable this if you have multiple cores. Reed From: John Tobin [mailto:jtobin at po-box.esu.edu] Sent: Thursday, March 10, 2011 12:10 PM To: support mobilerobots Subject: Re: Do you have instructions for a normal Microsoft visual studio setup? I will be using Microsoft Visual Studio 2010. Please forward procedures for the file conversion, or let me know where I can find the converted files. tob On 3/9/11 12:32 PM, "support mobilerobots" wrote: Hi John, ARIA (http://robots.mobilerobots.com/wiki/ARIA) comes with Solution and Project files for Visual Studio 2003 and 2008. Check C:\Program Files\MobileRobots\Aria after installation. For the demo example, open the "All Examples" solution in the examples subdirectory. Visual Studio 2010 does work but you need to convert the 2008 project files, so let me know if you need to use 2010 instead of 2008. Instructions for setting up a new project to link to the ARIA library are in the README.txt file and also here as well: http://robots.mobilerobots.com/wiki/Microsoft_Visual_Studio_Project_Settings Does this help? ------ End of Forwarded Message ------ End of Forwarded Message -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 33642 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/3ef89cf9/attachment-0001.bin From Reed.Hedges at Adept.com Thu Apr 14 10:06:12 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 07:06:12 -0700 Subject: [Aria-users] Failed to connect to robot on windows 7 In-Reply-To: <458787.47123.qm@web46403.mail.sp1.yahoo.com> References: <38B0EB303E4E804F8A93B5CFA8FFF15F0252BE6FE1@SRV-APP-6.adept.local> <730872.26412.qm@web46407.mail.sp1.yahoo.com> <38B0EB303E4E804F8A93B5CFA8FFF15F02C5727D7A@SRV-APP-6.adept.local> <675503.1923.qm@web46413.mail.sp1.yahoo.com> <823f09c8cf88ef201a3191f72cbb8be0.squirrel@webmail.ekt.gr> <458787.47123.qm@web46403.mail.sp1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A0@SRV-APP-6.adept.local> It was receiving some data from the robot, since the SYNC process (Sync 0, 1, 2 worked), it just didn't get a valid type or subtype values at the end of the process. What COM port did you switch to? Are there some kind of virtual serial ports, or are you using a USB adapter? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossain, Md.Z Sent: Monday, April 11, 2011 9:16 AM To: ariausers Subject: Re: [Aria-users] Failed to connect to robot on windows 7 Hi Nicolas, Thanks a lot mate.....damn...i gave wrong port add...kind of new on windows...... Now it's working.....from another directory as well....... thanks again hossain ________________________________ From: "tsokas at ekt.gr" To: "Help, discussion and announcements for MobileRobots' Advanced Robot Interface for Applications (ARIA)" Sent: Tue, April 12, 2011 12:10:53 AM Subject: Re: [Aria-users] Failed to connect to robot on windows 7 Hi Hossain, How exactly have you issued demo command from Windows? Like: "demo.exe -rp COM3" ? I guess you are using a usb-to-serial cable. Go to My Computer --> Properties --> Hardware --> Device Manager. Under "Ports" you can find which serial port (COM3 or whatever) your usb-to-serial cable has been mapped to. Try issuing demo.exe with the correct port (if not done already). Best regards, Nicolas Tsokas National Technical University of Athens > Hi there, > > I was trying to use demo program from example on windows 7(visual studio > 2008 > and Aria 2.7.2). But getting these message........ please help > > Could not connect to simulator, connecting to robot through serial port > COM3. > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: > Type: > Subtype: > Error: Have no parameters for this robot, bad configuration or out of date > Aria > Failed to connect to robot. > Error, could not connect to robot. > > > Thanks in advance > Hossain > > > > > ________________________________ > From: Reed Hedges > > To: ariausers > > Sent: Wed, March 23, 2011 5:29:29 AM > Subject: Re: [Aria-users] Laser mode failed to connect to the laser > > > Hello, sorry for the delay, do you still have this problem? > > I would try to verify both the physical connection to the laser and also > that > /dev/ttyUSB1 still works in Linux (you could plug the robot into the > laser's > serial interface and try ./demo -rp /dev/ttyUSB1). Since USB devices are > removable Linux might assign a different name under some conditions. (You > could > look at dmesg for relevant log messages). > > Are you powering the laser directly or are you using our laser power > controller > board (its normally inside the black laser bracket, so if you are just > using the > existing cabling, it would be involved). The operation of this controller > is > described a bit here and may help: > http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board > > Reed > > > From: aria-users-bounces at lists.mobilerobots.com > [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossain, > Md.Z > Sent: Tuesday, March 22, 2011 8:49 AM > To: ariausers > Subject: [Aria-users] Laser mode failed to connect to the laser > > Hi everyone, > > I am trying to run the demo program from Aria/example using "./demo -rp > /dev/ttyUSB0 -lp /dev/ttyUSB1" command. Robot is being connected but when > i'm > trying to go in laser mode i'm getting this message......... > You are in 'laser' mode currently. > > Laser mode connects to a laser, or uses a previously established > connection. > Laser mode then displays the closest and furthest reading from the laser. > 'z' or 'Z': toggle between far reading and middle reading with > reflectivity > 1: lms2xx_1 > > ArModeLaser is connecting to lms2xx_1. > lms2xx_1: waiting for laser to power on. > lms2xx_1: Failed to connect to laser, no poweron received. > > Laser mode failed to connect to the laser. > > Switch out of this mode and back to try reconnecting. > > Warning: ArRobot sync tasks too long at 306 ms, (100 ms normal 250 ms > warning) > > But few days ego, it was working perfectly.....Please help me as soon as > possible....... > > For your kind information...... > OS: Obuntu 10.04 > ARIA Version 2.7.2 > Robot: Pioneer 3 > > Thanks in advance > Hossain > > > _______________________________________________ > Aria-users mailing list > Aria-users at lists.mobilerobots.com > http://lists.mobilerobots.com/mailman/listinfo/aria-users > > To unsubscribe visit the above webpage or send an e-mail to: > > aria-users-leave at lists.mobilerobots.com > > Visit http://robots.mobilerobots.com for information including > documentation, FAQ, tips, manuals, and software, firmware and driver > downloads. > > 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/20110414/2e09ea0f/attachment.html From Reed.Hedges at Adept.com Thu Apr 14 10:08:44 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 07:08:44 -0700 Subject: [Aria-users] Connecting problem with robot server from remote computer In-Reply-To: <860715.26048.qm@web120109.mail.ne1.yahoo.com> References: <860715.26048.qm@web120109.mail.ne1.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A1@SRV-APP-6.adept.local> Hi Awantha, If you can gather more information about the crash that would be useful to find the bug. If you run it with gdb and do a stack trace do you get any useful information? gdb ./serverDemo run ...crash... bt You can also try forcing recompilation of ARIA, ArNetworking and serverDemo, especially try this if you may have rebuilt one or the other of these three things with a different compiler version than the others. Go into /usr/local/Aria and run make clean. Go into ArNetworking and run make clean. Then go into examples, remove serverDemo, and run make. From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Awantha Jayasiri Sent: Friday, April 08, 2011 5:17 PM To: ariausers Subject: [Aria-users] Connecting problem with robot server from remote computer Hi Reed, When I run ArNetworking/examples/serverDemo in the robots on-board computer the server starts running. But when I try to connect to the server from remote computer using Mobile Eyes it shows following. "Client connected from 10.0.0.11" Aria Received signal "SIGSEGV". exiting server shutting down, sending shut down, Disconnecting from robot And the Mobile eyes shows "Connection closed by robot 10.0.0.20". Could you please tell me how can I establish the service permanently. Shoud the ARNL directory be installed seperately in robots on-board computer and run "guiServer" from there? Thank you very much. P.S. I will be attending in ICRA 2011 and presenting some work in multi robot coordination. I also would like to see some demonstrations of Seekur Jr. since we are planing to buy one. Thank you Regards Awantha Jayasiri -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 12127 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/070606bd/attachment-0001.bin From Reed.Hedges at Adept.com Thu Apr 14 10:12:04 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 07:12:04 -0700 Subject: [Aria-users] Calculating robots location using Encoder feedback In-Reply-To: References: Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A5@SRV-APP-6.adept.local> Hello, You can track distance covered by tracking the robot pose (ArRobot::getPose). ArUtil has a distance function that might be useful. Or if you specifically want encoder ticks, there is a way to request encoder tick values from the robot for this kind of diagnostic purpose. Call requestEncoderPackets() on the robot object (once), then after that you can use getLeftEncoder() and getRightEncoder(). Again this is meant to observe and check the encoder output, not really as the basis for robot control (use the robot pose for that). Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Mrityunjay Sent: Thursday, April 07, 2011 4:20 PM To: ariausers Subject: [Aria-users] Calculating robots location using Encoder feedback Hello All, I have recently started working on Pioneer P3-DX and programmed it for some autonomous motion (hard-coded) using ARIA library. I would like to access the encoder feedback to calculate how much the robot has moved from its initial position including the delta-heading (direction, etc). I am still looking at the ARIA documentation to find the appropriate classes and function, but it would be nice if somebody can point me in the right direction. Thanks and Regards, Mrityunjay http://mrityunjay.in/ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 10884 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/4f660ad9/attachment.bin From Reed.Hedges at Adept.com Thu Apr 14 10:13:27 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Thu, 14 Apr 2011 07:13:27 -0700 Subject: [Aria-users] control Amigobot In-Reply-To: <806955.64325.qm@web31501.mail.mud.yahoo.com> References: <806955.64325.qm@web31501.mail.mud.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A8@SRV-APP-6.adept.local> Hi Badil, I don't remember if your questions were answered yet, I apologize. Did you find some more information or get some software working? From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Badil Elhady Sent: Thursday, April 07, 2011 9:29 AM To: ariausers Subject: [Aria-users] control Amigobot Hello mobile robots, I am new with the AmigoBot, I started working on them before the end of last year, but not continuously, I am not sure how to make the connection between the Amigobots, would you kindly elaborate on it? (do they have the capability to exchange information among the Amigobots) Another question I wanted to ask regarding the network configuration, I have used ad hoc, but I was advise not to use it, what is your take on that? One more matter I wanted to get help with is the twoRobotWander program, I am trying to make three robot wander using the example to the 2 robots, but I am always getting error, and different issues every time. Is this program made to handle only 2 robots, have you any code you would not mind sharing that will control 3 robots, I would appreciate any help you can give. This would be a first step of what I am trying to achieve which is having a leader flower format. Thank you for any advice you might have for me. Hope to hear from you soon. ~**~~````~~```~```** Badil Elhady .* ~**~~````~~```~```*' The University of Texas at San Antonio ________________________________ -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110414/f67a826b/attachment-0001.html From ynilsiam at mtu.edu Thu Apr 14 23:13:50 2011 From: ynilsiam at mtu.edu (Yuenyong Nilsiam) Date: Thu, 14 Apr 2011 23:13:50 -0400 (EDT) Subject: [Aria-users] Monte Carlo Localization In-Reply-To: <902260729.11279221302837092350.JavaMail.root@zcs-mbs03.it.mtu.edu> Message-ID: <632461282.11279391302837230101.JavaMail.root@zcs-mbs03.it.mtu.edu> Hello, I am using Sonar sensor. How can I move the robot to the exact pose? I am trying to make it by setting robot.setvel() and robot.setheading, but it is not working. Regard, Ake ----- Original Message ----- From: "Reed Hedges" To: "ariausers" Sent: Thursday, April 14, 2011 9:15:44 AM GMT -05:00 US/Canada Eastern Subject: Re: [Aria-users] Monte Carlo Localization Hello, Can you expand on your question? Are you using laser data? ARIA normally provides detected laser points in the global coordinate system (i.e. the same as the robot position), and there are some tools to transform positions. You can also get the range (distance from robot) if you want to use that instead as well. Reed -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Yuenyong Nilsiam Sent: Tuesday, April 12, 2011 3:14 PM To: ariausers Subject: [Aria-users] Monte Carlo Localization Dear all, I am using ARIA and MobileSim to do Monte Carlo Localization. After I random the particles, how can I get the sensor data for each particle? Please give me some example if you can. Thank you so much. Best regards, Ake _______________________________________________ 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/ From Reed.Hedges at Adept.com Fri Apr 22 15:44:06 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Fri, 22 Apr 2011 12:44:06 -0700 Subject: [Aria-users] control Amigobot In-Reply-To: <806955.64325.qm@web31501.mail.mud.yahoo.com> References: <806955.64325.qm@web31501.mail.mud.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5689F@SRV-APP-6.adept.local> Hi I tried your program and it seemed to work ok. I did make one change: int port1 = 8101; int port2 = 8101; int port3 = 8101; if(strcmp(host1, host2) == 0 ) { // same host, it must be using two ports (but can still override below with -rp2) port2 = port1 + 1; } if(strcmp(host2, host3) == 0 ) { // same host, it must be using two ports (but can still override below with -rp2) port3 = port2 + 1; } (otherwise port2 and port3 would be the same 8102 i.e. 8101++). It exits after 5 seconds because of the 5 second sleep, changing that to robot1.waitForRunExit(); made it run forever. I used the simulator (MobileSim.exe -r p3dx -r p3dx -r p3dx -map columbia.map). Check the output of the program (logs) to see if one of the robots is losing a connection. I used Visual Studio 2008 with the attached project file (linking to AriaDebugVC9.dll etc.) From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Badil Elhady Sent: Thursday, April 07, 2011 9:29 AM To: ariausers Subject: [Aria-users] control Amigobot Hello mobile robots, I am new with the AmigoBot, I started working on them before the end of last year, but not continuously, I am not sure how to make the connection between the Amigobots, would you kindly elaborate on it? (do they have the capability to exchange information among the Amigobots) Another question I wanted to ask regarding the network configuration, I have used ad hoc, but I was advise not to use it, what is your take on that? One more matter I wanted to get help with is the twoRobotWander program, I am trying to make three robot wander using the example to the 2 robots, but I am always getting error, and different issues every time. Is this program made to handle only 2 robots, have you any code you would not mind sharing that will control 3 robots, I would appreciate any help you can give. This would be a first step of what I am trying to achieve which is having a leader flower format. Thank you for any advice you might have for me. Hope to hear from you soon. ~**~~````~~```~```** Badil Elhady .* ~**~~````~~```~```*' The University of Texas at San Antonio ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 29525 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110422/b45e2b9e/attachment-0001.bin From belhady at yahoo.com Fri Apr 22 19:10:41 2011 From: belhady at yahoo.com (Badil Elhady) Date: Fri, 22 Apr 2011 16:10:41 -0700 (PDT) Subject: [Aria-users] Aria-users Digest, Vol 36, Issue 12 In-Reply-To: Message-ID: <107898.57315.qm@web31502.mail.mud.yahoo.com> Hello everyone, Reed your the best, the advices and tips you gave me worked just fine, and I have my 3 robots warding just right after I read your advice and recompiled the code, thanks man. Another is issue is that if I terminate the program from running, the robots are still running, is there a way to stop them all at the same time, or to pick which one to stop and terminate it individually? I will try to make even more them 5 robots run at the same time now, thanks again. ~**~~````~~```~```** Badil Elhady? .*~**~~````~~```~```*' The University of Texas at San Antonio --- On Fri, 4/22/11, aria-users-request at lists.mobilerobots.com wrote: From: aria-users-request at lists.mobilerobots.com Subject: Aria-users Digest, Vol 36, Issue 12 To: aria-users at lists.mobilerobots.com Date: Friday, April 22, 2011, 3:44 PM 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: Monte Carlo Localization (Yuenyong Nilsiam) ???2. Re: control Amigobot (Reed Hedges) ---------------------------------------------------------------------- Message: 1 Date: Thu, 14 Apr 2011 23:13:50 -0400 (EDT) From: Yuenyong Nilsiam Subject: Re: [Aria-users] Monte Carlo Localization To: "discussion and announcements for MobileRobots' Advanced Robot ??? Interface for Applications Help (ARIA)" ??? Message-ID: ??? <632461282.11279391302837230101.JavaMail.root at zcs-mbs03.it.mtu.edu> Content-Type: text/plain; charset=utf-8 Hello, I am using Sonar sensor. How can I move the robot to the exact pose? I am trying to make it by setting robot.setvel() and robot.setheading, but it is not working. Regard, Ake ----- Original Message ----- From: "Reed Hedges" To: "ariausers" Sent: Thursday, April 14, 2011 9:15:44 AM GMT -05:00 US/Canada Eastern Subject: Re: [Aria-users] Monte Carlo Localization Hello, Can you expand on your question?? Are you using laser data????ARIA normally provides detected laser points in the global coordinate system (i.e. the same as the robot position), and there are some tools to transform positions.???You can also get the range (distance from robot) if you want to use that instead as well. Reed -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Yuenyong Nilsiam Sent: Tuesday, April 12, 2011 3:14 PM To: ariausers Subject: [Aria-users] Monte Carlo Localization Dear all, I am using ARIA and MobileSim to do Monte Carlo Localization. After I random the particles, how can I get the sensor data for each particle? Please give me some example if you can. Thank you so much. Best regards, Ake _______________________________________________ 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/ ------------------------------ Message: 2 Date: Fri, 22 Apr 2011 12:44:06 -0700 From: Reed Hedges Subject: Re: [Aria-users] control Amigobot To: ariausers Message-ID: ??? <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5689F at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" Hi I tried your program and it seemed to work ok. I did make one change: ? int port1 = 8101; ? int port2 = 8101; ? int port3 = 8101; ? if(strcmp(host1, host2) == 0 ) ? { ? ? // same host, it must be using two ports (but can still override below with -rp2) ? ? port2 = port1 + 1; ? } ? if(strcmp(host2, host3) == 0 ) ? { ? ? // same host, it must be using two ports (but can still override below with -rp2) ? ? ? ? port3 = port2 + 1; ? } (otherwise port2 and port3 would be the same 8102 i.e. 8101++). It exits after 5 seconds because of the 5 second sleep, changing that to robot1.waitForRunExit(); made it run forever. I used the simulator (MobileSim.exe -r p3dx -r p3dx -r p3dx -map columbia.map). Check the output of the program (logs) to see if one of the robots is losing a connection. I used Visual Studio 2008 with the attached project file (linking to AriaDebugVC9.dll etc.) From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Badil Elhady Sent: Thursday, April 07, 2011 9:29 AM To: ariausers Subject: [Aria-users] control Amigobot Hello mobile robots, I am new with the AmigoBot, I started working on them before the end of last year, but not continuously, I am not sure how to make the connection between the Amigobots, would you kindly elaborate on it? (do they have the capability to exchange information among the Amigobots) Another question I wanted to ask regarding the network configuration, I have used ad hoc, but I was advise not to use it, what is your take on that? One more matter I wanted to get help with is the twoRobotWander program, I am trying to make three robot wander using the example to the 2 robots, but I am always getting error, and different issues every time. Is this program made to handle only 2 robots, have you any code you would not mind sharing that will control 3 robots, I would appreciate any help you can give. This would be a first step of what I am trying to achieve which is having a leader flower format. Thank you for any advice you might have for me. Hope to hear from you soon. ~**~~````~~```~```** Badil Elhady? .* ~**~~````~~```~```*' The University of Texas at San Antonio ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... 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URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110422/c6215380/attachment.html From H.Miri at 2007.hull.ac.uk Sun Apr 24 11:43:55 2011 From: H.Miri at 2007.hull.ac.uk (Hossein Miri) Date: Sun, 24 Apr 2011 16:43:55 +0100 Subject: [Aria-users] Multiple Robots in MobileSim Message-ID: <445800D8FD5D3D43878FD7D2842A304701AB4AD7@EXCL2VS2.adir.hull.ac.uk> Hi everyone, My ARIA program (main parts copied and pasted below) runs a virtual P3DX in MobileSim (robot1). It is the main robot that I would like to be controlled by my program. I have created a few more robots (robot2, robot3, and robot4) using: MobileSim -m AMROffice.map -r p3dx:robot1 -r p3dx:robot2 -r amigo:robot3 -r amigo:robot4 How can I have the other robots just wandering around (by adding code to my main program)? Obviously, I control robot1 from my ARIA program. How should I modify it so that 2 and 3 and 4 just start wondering around when I run my program (like moving obstacles)? ----------------- cpp file ---------------- #include stuff... int main( int argc, char** argv ) { PlEngine e( argv[ 0 ] ); PlCall( "consult( swi( 'plwin.rc' ) )" ); PlCall( "consult( 'myCognitiveArchitecture.pl' )" ); Aria::init(); ArRobot robot; ArArgumentParser argParser( &argc, argv ); argParser.loadDefaultArguments(); ArRobotConnector robotConnector( &argParser, &robot ); ArLaserConnector laserConnector( &argParser, &robot, &robotConnector ); argParser.addDefaultArgument( "-connectLaser" ); if( !robotConnector.connectRobot() ) { ArLog::log( ArLog::Terse, "Could not connect to Cerno... Exiting!" ); if( argParser.checkHelpAndWarnUnparsed() ) { Aria::logOptions(); Aria::exit( 1 ); } } if ( !Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed() ) { Aria::logOptions(); Aria::exit( 1 ); } printf( "This program will run my cognitive architecture on a virtual P3-DX robot." ); ArKeyHandler keyHandler; Aria::setKeyHandler( &keyHandler ); robot.attachKeyHandler( &keyHandler ); ArSonarDevice sonar; robot.addRangeDevice( &sonar ); if( !laserConnector.connectLasers() ) { ArLog::log( ArLog::Normal, "Warning: Unable to connect to requested lasers ... Will wander using robot sonar only." ); } ArActionStallRecover recoverAct; ArActionAvoidFront avoidFrontNearAct( "Avoid Front Near", 200, 0 ); ArActionAvoidFront avoidFrontFarAct; ArActionConstantVelocity constantVelocityAct( "Constant Velocity", 200 ); UserTask talk( &robot ); robot.addAction( &recoverAct, 90 ); robot.addAction( &avoidFrontNearAct, 50 ); robot.addAction( &avoidFrontFarAct, 30 ); robot.addAction( &constantVelocityAct, 20 ); robot.enableMotors(); robot.runAsync( true ); robot.waitForRunExit(); Aria::exit( 0 ); } -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110424/90c763e3/attachment-0001.html -------------- next part -------------- An embedded and charset-unspecified text was scrubbed... Name: not available Url: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110424/90c763e3/attachment-0001.ksh From jay.iiit at gmail.com Sun Apr 24 13:07:15 2011 From: jay.iiit at gmail.com (Mrityunjay) Date: Sun, 24 Apr 2011 13:07:15 -0400 Subject: [Aria-users] Calculating robots location using Encoder feedback In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A5@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A5@SRV-APP-6.adept.local> Message-ID: Hello, Thanks for your reply, I was able to achieve my task using the ArRobot class and function like getX( ), getY( ) and getTh( ). These three functions are giving me rough reading for the robot's location relative to initial frame of reference. For more precise measurement I will follow your suggestion. Thanks, Mrityunjay On Thu, Apr 14, 2011 at 10:12 AM, Reed Hedges wrote: > > Hello, > > You can track distance covered by tracking the robot pose > (ArRobot::getPose). ArUtil has a distance function that might be useful. > > Or if you specifically want encoder ticks, there is a way to request > encoder tick values from the robot for this kind of diagnostic purpose. > Call requestEncoderPackets() on the robot object (once), then after that > you can use getLeftEncoder() and getRightEncoder(). Again this is meant to > observe and check the encoder output, not really as the basis for robot > control (use the robot pose for that). > > Reed > > > > > From: aria-users-bounces at lists.mobilerobots.com [mailto: > aria-users-bounces at lists.mobilerobots.com] On Behalf Of Mrityunjay > Sent: Thursday, April 07, 2011 4:20 PM > To: ariausers > Subject: [Aria-users] Calculating robots location using Encoder feedback > > Hello All, > I have recently started working on Pioneer P3-DX and programmed it for some > autonomous motion (hard-coded) using ARIA library. > I would like to access the encoder feedback to calculate how much the robot > has moved from its initial position including the delta-heading (direction, > etc). > > I am still looking at the ARIA documentation to find the appropriate > classes and function, but it would be nice if somebody can point me in the > right direction. > > > Thanks and Regards, > Mrityunjay > > > http://mrityunjay.in/ > > _______________________________________________ > 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/20110424/2c25c8ac/attachment.html From Reed.Hedges at Adept.com Mon Apr 25 09:04:56 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 25 Apr 2011 06:04:56 -0700 Subject: [Aria-users] Calculating robots location using Encoder feedback In-Reply-To: References: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A5@SRV-APP-6.adept.local> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5693F@SRV-APP-6.adept.local> getX(), getY() and getTh() are the same values as from getPose(). This position is derived from the position provided by the robot, which is from integrated encoder readings (plus gyro correction if enabled). There is natural error in this position. (How much error are you seeing, linear and rotational?) Reed From: Mrityunjay [mailto:jay.iiit at gmail.com] Sent: Sunday, April 24, 2011 1:07 PM To: ariausers Cc: Reed Hedges Subject: Re: [Aria-users] Calculating robots location using Encoder feedback Hello, Thanks for your reply, I was able to achieve my task using the ArRobot class and function like getX( ), getY( ) and getTh( ). These three functions are giving me rough reading for the robot's location relative to initial frame of reference. For more precise measurement I will follow your suggestion. Thanks, Mrityunjay On Thu, Apr 14, 2011 at 10:12 AM, Reed Hedges > wrote: Hello, You can track distance covered by tracking the robot pose (ArRobot::getPose). ArUtil has a distance function that might be useful. Or if you specifically want encoder ticks, there is a way to request encoder tick values from the robot for this kind of diagnostic purpose. Call requestEncoderPackets() on the robot object (once), then after that you can use getLeftEncoder() and getRightEncoder(). Again this is meant to observe and check the encoder output, not really as the basis for robot control (use the robot pose for that). Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Mrityunjay Sent: Thursday, April 07, 2011 4:20 PM To: ariausers Subject: [Aria-users] Calculating robots location using Encoder feedback Hello All, I have recently started working on Pioneer P3-DX and programmed it for some autonomous motion (hard-coded) using ARIA library. I would like to access the encoder feedback to calculate how much the robot has moved from its initial position including the delta-heading (direction, etc). I am still looking at the ARIA documentation to find the appropriate classes and function, but it would be nice if somebody can point me in the right direction. Thanks and Regards, Mrityunjay http://mrityunjay.in/ _______________________________________________ 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: 10316 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110425/3b2588cf/attachment.bin From Reed.Hedges at Adept.com Mon Apr 25 09:08:07 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 25 Apr 2011 06:08:07 -0700 Subject: [Aria-users] Multiple Robots in MobileSim In-Reply-To: <445800D8FD5D3D43878FD7D2842A304701AB4AD7@EXCL2VS2.adir.hull.ac.uk> References: <445800D8FD5D3D43878FD7D2842A304701AB4AD7@EXCL2VS2.adir.hull.ac.uk> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B56941@SRV-APP-6.adept.local> Hello, Each robot is on a different, subsequent TCP port, i.e. 8102, 8103, 8104. Check the log window in MobileSim. You can use the ARIA 'wander' example program with the -rrtp (-remoteRobotTcpPort) command line argument to connect to these other robots. If you want to integrate the wander behavior into your main program you need to create new ArRobot objects, and add a set of ArActions to it that implement wandering. Running 'wander' for the additional robots is probably easier if they just need to wander independently. Also, if you want the wandering robots to have some other shape than the p3dx shape in MobileSim, you can derive a new model definition for it and use that name with -r. Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Hossein Miri Sent: Sunday, April 24, 2011 11:44 AM To: support mobilerobots Cc: ariausers Subject: [Aria-users] Multiple Robots in MobileSim Hi everyone, My ARIA program (main parts copied and pasted below) runs a virtual P3DX in MobileSim (robot1). It is the main robot that I would like to be controlled by my program. I have created a few more robots (robot2, robot3, and robot4) using: MobileSim -m AMROffice.map -r p3dx:robot1 -r p3dx:robot2 -r amigo:robot3 -r amigo:robot4 How can I have the other robots just wandering around (by adding code to my main program)? Obviously, I control robot1 from my ARIA program. How should I modify it so that 2 and 3 and 4 just start wondering around when I run my program (like moving obstacles)? ----------------- cpp file ---------------- #include stuff... int main( int argc, char** argv ) { PlEngine e( argv[ 0 ] ); PlCall( "consult( swi( 'plwin.rc' ) )" ); PlCall( "consult( 'myCognitiveArchitecture.pl' )" ); Aria::init(); ArRobot robot; ArArgumentParser argParser( &argc, argv ); argParser.loadDefaultArguments(); ArRobotConnector robotConnector( &argParser, &robot ); ArLaserConnector laserConnector( &argParser, &robot, &robotConnector ); argParser.addDefaultArgument( "-connectLaser" ); if( !robotConnector.connectRobot() ) { ArLog::log( ArLog::Terse, "Could not connect to Cerno... Exiting!" ); if( argParser.checkHelpAndWarnUnparsed() ) { Aria::logOptions(); Aria::exit( 1 ); } } if ( !Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed() ) { Aria::logOptions(); Aria::exit( 1 ); } printf( "This program will run my cognitive architecture on a virtual P3-DX robot." ); ArKeyHandler keyHandler; Aria::setKeyHandler( &keyHandler ); robot.attachKeyHandler( &keyHandler ); ArSonarDevice sonar; robot.addRangeDevice( &sonar ); if( !laserConnector.connectLasers() ) { ArLog::log( ArLog::Normal, "Warning: Unable to connect to requested lasers ... Will wander using robot sonar only." ); } ArActionStallRecover recoverAct; ArActionAvoidFront avoidFrontNearAct( "Avoid Front Near", 200, 0 ); ArActionAvoidFront avoidFrontFarAct; ArActionConstantVelocity constantVelocityAct( "Constant Velocity", 200 ); UserTask talk( &robot ); robot.addAction( &recoverAct, 90 ); robot.addAction( &avoidFrontNearAct, 50 ); robot.addAction( &avoidFrontFarAct, 30 ); robot.addAction( &constantVelocityAct, 20 ); robot.enableMotors(); robot.runAsync( true ); robot.waitForRunExit(); Aria::exit( 0 ); } -------------- next part -------------- A non-text attachment was scrubbed... Name: winmail.dat Type: application/ms-tnef Size: 16085 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110425/c9ae9a7f/attachment-0001.bin From Reed.Hedges at Adept.com Mon Apr 25 09:09:33 2011 From: Reed.Hedges at Adept.com (Reed Hedges) Date: Mon, 25 Apr 2011 06:09:33 -0700 Subject: [Aria-users] stop robots in sim In-Reply-To: <107898.57315.qm@web31502.mail.mud.yahoo.com> References: <107898.57315.qm@web31502.mail.mud.yahoo.com> Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B56943@SRV-APP-6.adept.local> Do you mean that the robot remains in MobileSim when the program exits, or that they keep driving? In your program you can stop a robot with the stop() method. Reed From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Badil Elhady Sent: Friday, April 22, 2011 7:11 PM To: ariausers Subject: Re: [Aria-users] Aria-users Digest, Vol 36, Issue 12 Hello everyone, Reed your the best, the advices and tips you gave me worked just fine, and I have my 3 robots warding just right after I read your advice and recompiled the code, thanks man. Another is issue is that if I terminate the program from running, the robots are still running, is there a way to stop them all at the same time, or to pick which one to stop and terminate it individually? I will try to make even more them 5 robots run at the same time now, thanks again. ~**~~````~~```~```** Badil Elhady .* ~**~~````~~```~```*' The University of Texas at San Antonio ________________________________ --- On Fri, 4/22/11, aria-users-request at lists.mobilerobots.com wrote: From: aria-users-request at lists.mobilerobots.com Subject: Aria-users Digest, Vol 36, Issue 12 To: aria-users at lists.mobilerobots.com Date: Friday, April 22, 2011, 3:44 PM 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: Monte Carlo Localization (Yuenyong Nilsiam) 2. Re: control Amigobot (Reed Hedges) ---------------------------------------------------------------------- Message: 1 Date: Thu, 14 Apr 2011 23:13:50 -0400 (EDT) From: Yuenyong Nilsiam > Subject: Re: [Aria-users] Monte Carlo Localization To: "discussion and announcements for MobileRobots' Advanced Robot Interface for Applications Help (ARIA)" > Message-ID: <632461282.11279391302837230101.JavaMail.root at zcs-mbs03.it.mtu.edu> Content-Type: text/plain; charset=utf-8 Hello, I am using Sonar sensor. How can I move the robot to the exact pose? I am trying to make it by setting robot.setvel() and robot.setheading, but it is not working. Regard, Ake ----- Original Message ----- From: "Reed Hedges" > To: "ariausers" > Sent: Thursday, April 14, 2011 9:15:44 AM GMT -05:00 US/Canada Eastern Subject: Re: [Aria-users] Monte Carlo Localization Hello, Can you expand on your question? Are you using laser data? ARIA normally provides detected laser points in the global coordinate system (i.e. the same as the robot position), and there are some tools to transform positions. You can also get the range (distance from robot) if you want to use that instead as well. Reed -----Original Message----- From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Yuenyong Nilsiam Sent: Tuesday, April 12, 2011 3:14 PM To: ariausers Subject: [Aria-users] Monte Carlo Localization Dear all, I am using ARIA and MobileSim to do Monte Carlo Localization. After I random the particles, how can I get the sensor data for each particle? Please give me some example if you can. Thank you so much. Best regards, Ake _______________________________________________ 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/ ------------------------------ Message: 2 Date: Fri, 22 Apr 2011 12:44:06 -0700 From: Reed Hedges > Subject: Re: [Aria-users] control Amigobot To: ariausers > Message-ID: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5689F at SRV-APP-6.adept.local> Content-Type: text/plain; charset="us-ascii" Hi I tried your program and it seemed to work ok. I did make one change: int port1 = 8101; int port2 = 8101; int port3 = 8101; if(strcmp(host1, host2) == 0 ) { // same host, it must be using two ports (but can still override below with -rp2) port2 = port1 + 1; } if(strcmp(host2, host3) == 0 ) { // same host, it must be using two ports (but can still override below with -rp2) port3 = port2 + 1; } (otherwise port2 and port3 would be the same 8102 i.e. 8101++). It exits after 5 seconds because of the 5 second sleep, changing that to robot1.waitForRunExit(); made it run forever. I used the simulator (MobileSim.exe -r p3dx -r p3dx -r p3dx -map columbia.map). Check the output of the program (logs) to see if one of the robots is losing a connection. I used Visual Studio 2008 with the attached project file (linking to AriaDebugVC9.dll etc.) From: aria-users-bounces at lists.mobilerobots.com [mailto:aria-users-bounces at lists.mobilerobots.com] On Behalf Of Badil Elhady Sent: Thursday, April 07, 2011 9:29 AM To: ariausers Subject: [Aria-users] control Amigobot Hello mobile robots, I am new with the AmigoBot, I started working on them before the end of last year, but not continuously, I am not sure how to make the connection between the Amigobots, would you kindly elaborate on it? (do they have the capability to exchange information among the Amigobots) Another question I wanted to ask regarding the network configuration, I have used ad hoc, but I was advise not to use it, what is your take on that? One more matter I wanted to get help with is the twoRobotWander program, I am trying to make three robot wander using the example to the 2 robots, but I am always getting error, and different issues every time. Is this program made to handle only 2 robots, have you any code you would not mind sharing that will control 3 robots, I would appreciate any help you can give. This would be a first step of what I am trying to achieve which is having a leader flower format. Thank you for any advice you might have for me. Hope to hear from you soon. ~**~~````~~```~```** Badil Elhady .* ~**~~````~~```~```*' The University of Texas at San Antonio ________________________________ -------------- next part -------------- A non-text attachment was scrubbed... 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Name: winmail.dat Type: application/ms-tnef Size: 19804 bytes Desc: not available Url : http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110425/dd433ba4/attachment-0001.bin From jay.iiit at gmail.com Mon Apr 25 14:18:39 2011 From: jay.iiit at gmail.com (Mrityunjay) Date: Mon, 25 Apr 2011 14:18:39 -0400 Subject: [Aria-users] Calculating robots location using Encoder feedback In-Reply-To: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5693F@SRV-APP-6.adept.local> References: <38B0EB303E4E804F8A93B5CFA8FFF15F02C8ABC3A5@SRV-APP-6.adept.local> <38B0EB303E4E804F8A93B5CFA8FFF15F02C8B5693F@SRV-APP-6.adept.local> Message-ID: I did couple of experiments, for a 1m pure translation motion I get a error of +/- 1cm. For a 90 degree pure rotational motion, its +/-1 degree. The robot sometimes corrects the position in rotational motion by going further 91 degree and coming back to 90 again, but this is not seen regularly. I have a Kinect camera mounted on the Pioneer P3DX and I am trying to do the camera calibration and syncing the camera parameters with the encoder reading to perform image registration, so even a 1 degree/ 1cm error is kind of crucial. Any suggestions ? Thanks, Mrityunjay On Mon, Apr 25, 2011 at 9:04 AM, Reed Hedges wrote: > > getX(), getY() and getTh() are the same values as from getPose(). This > position is derived from the position provided by the robot, which is from > integrated encoder readings (plus gyro correction if enabled). There is > natural error in this position. (How much error are you seeing, linear and > rotational?) > > Reed > > > > From: Mrityunjay [mailto:jay.iiit at gmail.com] > Sent: Sunday, April 24, 2011 1:07 PM > To: ariausers > Cc: Reed Hedges > Subject: Re: [Aria-users] Calculating robots location using Encoder > feedback > > Hello, > Thanks for your reply, I was able to achieve my task using the ArRobot > class and function like getX( ), getY( ) and getTh( ). These three functions > are giving me rough reading for the robot's location relative to initial > frame of reference. For more precise measurement I will follow your > suggestion. > > Thanks, > Mrityunjay > On Thu, Apr 14, 2011 at 10:12 AM, Reed Hedges > wrote: > > Hello, > > You can track distance covered by tracking the robot pose > (ArRobot::getPose). ArUtil has a distance function that might be useful. > > Or if you specifically want encoder ticks, there is a way to request > encoder tick values from the robot for this kind of diagnostic purpose. > Call requestEncoderPackets() on the robot object (once), then after that > you can use getLeftEncoder() and getRightEncoder(). Again this is meant to > observe and check the encoder output, not really as the basis for robot > control (use the robot pose for that). > > 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 Mrityunjay > Sent: Thursday, April 07, 2011 4:20 PM > To: ariausers > Subject: [Aria-users] Calculating robots location using Encoder feedback > > Hello All, > I have recently started working on Pioneer P3-DX and programmed it for some > autonomous motion (hard-coded) using ARIA library. > I would like to access the encoder feedback to calculate how much the robot > has moved from its initial position including the delta-heading (direction, > etc). > > I am still looking at the ARIA documentation to find the appropriate > classes and function, but it would be nice if somebody can point me in the > right direction. > > > Thanks and Regards, > Mrityunjay > > > http://mrityunjay.in/ > > _______________________________________________ > 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/20110425/40584776/attachment.html From angello.pozo at email.ucr.edu Fri Apr 29 01:35:19 2011 From: angello.pozo at email.ucr.edu (School) Date: Thu, 28 Apr 2011 22:35:19 -0700 Subject: [Aria-users] adding the GoalBlockedCB some issues Message-ID: <340791ED1D7442D9BE343A673535AE47@rmail.ucr.edu> The questions: 1) What is the difference between addBlockedPathCB and addPlainBlockedPathCB? 2) When does the robot call the blocked path call back? 3) I am having trouble adding the addBlockedPathCB, can you help me? Background: 1) none 2) I have added the addPlainBlockedPathCB. If i tell the robot to move to a point and temporarily block the path, nothing happens .I would have expected the addPlainBlockedPathCB to be called because it has to replan a path. I have also tried to completely block the target location, but that calls the goal failed CB. 3) Down below is how i added PlainBlockedPathCB and BlockedPathCB. if i remove the lines (1-3)### lines, the build compiles. But my PlainBlockedPathCB does nothing. If i add the 1### line, the build compiles. once I add 2### i receive error C2259. But to my understanding line 3### should be the next thing to do. ---This is not the code but rather the set of lines i need, to my understanding, to make it work. Additional information can be given if necessary. (in A.h) Class A{ A(ArPathPlanningTask *path); ArPathPlanningTask *aPath; ArFunctor1C(A, const std::list *> myfunctor; //1### ArFunctorC myPlainFunctor; blockedfun(); blockedfun2(); }; (in A.cpp) A::A(ArPathPlanningTask *path): myfunctor(this, &A::blockedfun), //2### myPlainFunctor(this,&A::blockedfun2) { aPath = path; aPath->addBlockedPathCB(&myfunctor); //3### aPath->addPlainBlockedPathCB(&myPlainFunctor); } A::blockedfun(){ cout << "I am blocked!!!" << endl;} A::blockedfun2(){cout << "In Blocked 2---" << endl;} The Error: C2664 'ArFunctor1C::ArFunctor1C(T &, void (_thiscall A::* )(PA))': cannot convert parameter 1 from 'A *const ' to 'A &' with [ T = A, P1 = const std::list * ] Thank you Angello Pozo -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/aria-users/attachments/20110428/01db6a82/attachment.html