Re: [Aria-users] RE: running wander.cpp using Infowave modems

[Matt LaFary <lafary@xxxxxxxxxxxxxxxx>]

Is the amigo.p the same between the two machines?  And can you send the 
output of the program run on the working machine?  I'm curious about 
those ArRobot messages.

What Aria is the working machine using?

Also, would you run the program on both the working and non working 
machine with verbose logging?  You can do that by putting the following 
line after Aria::init(); :

ArLog::init(ArLog::StdOut, ArLog::Verbose);


A few things to try if you're in a hurry (if you try them please let me 
know how it goes):

Take out those lines in /etc/inittab for your infowave modems, since you 
shouldn't need them and its possibly confusing things somehow.  Though 
the last time I used the infowave modems was on RedHat 6.something so 
its possible thats changed, but its still something to try.

Try passing in -robotBaud 38400 to your program.

Try changing the SwitchToBaudRate value in amigo.p to 0.

If the working machine is using a different Aria try copying that 
directory to the non-working machine and running it, and try it with a 
recompile.  You can use the ARIA and LD_LIBRARY_PATH environment 
variables to do this without uninstalling the Aria on the non-working 
machine.

Matt LaFary
MobileRobots Inc

Hossein Miri wrote:
> I don't have a serial cable. It connects to another Linux machine (Fedora 4) which shows that the Infowave modem and the Amigo are both in a working condition.
>  
> My machine is (supposed to be) identical to that working machine, except that mine is Fedora 8 and runs the new version of ARIA (2.5.1).
>  
> I have added a couple of lines of code to my /etc/inittab file to set the correct serial port settings for the Infowave modem:
>  
> 
> s0:2345:respawn:/bin/chmod  666  /dev/ttyS0
> 
> s1:2345:respawn:/bin/stty  -F  /dev/ttyS0 38400  -parenb  -cstopb  cs8  crtscts
> 
>  
> 
> I got this code snippet from that Fedora 4 machine and added them to mine.
> 
>  
> 
> I also tried making and running demo but I get the same thing: modem and Amigo light up, but the Amigo doesn't move - it just keeps making constant sonar noises. So connection establishes, but then it appears to get stuck. Does that clarify my problem at all?
> 
>  
> 
> Thanks Matt,
> 
>  
> 
> ________________________________
> 
> 
> Does it work if you connect to the amigobot directly with a serial cable
> (and adapter)?
> 
> You should also try demo instead, and then try teleop and unguarded
> teleop and see if either work (let me know).
> 
> Matt LaFary
> MobileRobots Inc
> 
>  
> - - - - 
>  
>  
> 
>>Hi,
>>
>>No, it doesn't wander at all.  It doesn't move.  It keeps making sonar noises non-stop  (until I hit the Escape).
>>
>>I am using ARIA 2.5.1 with Fedora 8
>>
>>The error message I get is this:
>>
>>
>>Syncing 0
>>No packet.
>>Syncing 0
>>Syncing 1
>>Syncing 2
>>Connected to robot.
>>Name: hull_100022
>>Type: Pioneer
>>Subtype: amigo
>>Loaded robot parameters from amigo.p
>>ArRobot: rotVelMax of 15360 is over the absolute max of 2152, capping it
>>ArRobot: setRotAccel of 11264 is over the absolute max of 3944, capping it
>>ArRobot: setRotDecel of 11265 is over the absolute max of 3944, capping it
>>
>>
>>
>>- - -
>>
>>
>>
>>The 'ArRobot: <message>' things may be errors or because of strange
>>settings in the firmware configuration.  Does the robot drive forwards
>>and avoid things like it's supposed to?  You might also try wander mode
>>in demo instead of wander, as its more tested and used.
>>
>>Matt LaFary
>>
>>
>>
>>- - -
>>
>>
>>
>>
>>>Hi Reed,
>>>
>>>Your suggestion resolved my problem - thank you.  Now I get another error message when I try to run wander.cpp. The modem red light and Amigo's amber light go on, but the Amigo keeps making sonar noises.  And it doesn't stop unless I press escape.  This is what I type in and what I get:
>>>
>>>cd /usr/local/Aria/examples
>>>
>>>./wander
>>>
>>>This program will just have the robot wander around . . . . . .
>>>
>>>Press CTRL-C or Escape to exit.
>>>
>>>Could not connect to simulator, connecting to robot through serial port /dev/ttyS0.
>>>
>>>Syncing 0
>>>
>>>No packet.
>>>
>>>Syncing 0
>>>
>>>Syncing 1
>>>
>>>Syncing 2
>>>
>>>Connected to robot.
>>>
>>>Name: hull_100022
>>>
>>>Type: Pioneer
>>>
>>>Subtype: amigo
>>>
>>>Loaded robot parameters from amigo.p
>>>
>>>ArRobot: rotVelMax of 15360 is over the absolute max of 2152, capping it
>>>
>>>ArRobot: setRotAccel of 11264 is over the absolute max of 3944, capping it
>>>
>>>ArRobot: setRotDecel of 11265 is over the absolute max of 3944, capping it
>>
>>
>>
>>- - - - -
>>
>>
>>
>>
>>>Hi Hossein, it appears you are using GCC 4, which is more strict about C++
>>>syntax than GCC 3.
>>>
>>>You can upgrade to ARIA 2.5.1 at http://robots.mobilerobots.com/ARIA <http://robots.mobilerobots.com/ARIA>  which fixed
>>>this problem (among many other changes -- see the Change Log to see what they
>>>were and decide if you want to upgrade.)
>>>
>>>Or you can just edit ArArgumentBuilder.h and ArBasePacket.h and fix the errors
>>>by removing the class qualifications from the method declarations, then
>>>recompile ARIA by running 'make' in /usr/local/Aria. (And similar changes for
>>>any other classes with the same problem.)
>>>
>>>Reed
>>
>>
>>
>>
>>
>>>>Hi everybody,
>>>>
>>>>
>>>>I have a Fedora 8 machine that runs ARIA 2.4-1.  It connects to an
>>>>Amigobot using a pair of wireless Infowave modems.  I have added a
>>>>couple of lines of code to /etc/inittab to set the correct serial port
>>>>settings for the modem.
>>>>
>>>>
>>>>When I go to /usr/local/Aria/examples to run a simple example like
>>>>wander.cpp this is what happens when I type in "make":
>>>>
>>>>
>>>>
>>>>make -C .. lib/libAria.so
>>>>
>>>>make[1]: Entering directory `/usr/local/Aria'
>>>>
>>>>make[1]: `lib/libAria.so' is up to date.
>>>>
>>>>make[1]: Leaving directory `/usr/local/Aria'
>>>>
>>>>make -C .. examples
>>>>
>>>>make[1]: Entering directory `/usr/local/Aria'
>>>>
>>>>g++ -g -Wall -D_REENTRANT -fno-exceptions -Iinclude
>>>>examples/dpptuDemo.cpp -o examples/dpptuDemo -Llib -lAria -lpthread -ldl
>>>>
>>>>include/ArArgumentBuilder.h:86: error: extra qualification
>>>>'ArArgumentBuilder::' on member 'internalAdd'
>>>>
>>>>include/ArBasePacket.h:170: error: extra qualification 'ArBasePacket::'
>>>>on member 'setMaxLength'
>>>>
>>>>make[1]: *** [examples/dpptuDemo] Error 1
>>>>
>>>>make[1]: Leaving directory `/usr/local/Aria'
>>>>
>>>>make: *** [all] Error 2
>>
>>
>>
>>
>>.
>>
>>
>>
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