From erdemdilmen at yahoo.com  Thu Oct  2 17:50:12 2008
From: erdemdilmen at yahoo.com (Erdi)
Date: Thu, 2 Oct 2008 14:50:12 -0700 (PDT)
Subject: [Pioneer-users] Aria - MobileSim Connection
Message-ID: <532786.62236.qm@web37302.mail.mud.yahoo.com>

Hi everyone,
i have ARIA Version 2.5-1 and compiled one of the examples given in its ../examples directory in C++, Microsoft Vsual Studio 6.0.I am using Windows operating system.I built the .exe file successfully but when i run it it starts to run but after a short while it gives error and stop; so no connection occurs between ARIA and MobileSim.I wonder whether i must so something else or not.I used the example code which was supposed to work but i dont know weheter i must do another thing or not.Is there anyone can help me?

Erdem



      
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From gururaj.kosuru at gmail.com  Sun Oct  5 10:23:20 2008
From: gururaj.kosuru at gmail.com (gururaj kosuru)
Date: Sun, 5 Oct 2008 20:08:20 +0545
Subject: [Pioneer-users] REG: GetXPos Problems
Message-ID: <d6c538de0810050723n7cc038exf6d06081c380ea95@mail.gmail.com>

Hello.

I am a student working with a Pioneer P3-DX.  I have a working simulation
using player and stage.  After moving the robot using the program below,
the robot gives a valid reading of GetXPos() in the same program.However,
when this program is exited and another program queries GetXPos(), the
result is always zero with P3-DX. However, the simulation with stage works
fine. Kindly Help.
--------------------------------------------------------------------------------------------------------------------------------
#include <iostream>
#include<stdio.h>
#include<stdlib.h>
#include <libplayerc++/playerc++.h>

int
main(int argc, char *argv[])
{
  using namespace PlayerCc;

  PlayerClient    robot("localhost");
  Position2dProxy pp(&robot,1/*PLAYER_OPEN_MODE*/);
  float x=atof(argv[1]),y=atof(argv[2]),a=atof(argv[3]);
  robot.StartThread();
robot.Read();
pp.RequestGeom();
std::cout<<"X y t"<<pp.GetXPos()<<" "<<pp.GetYPos()<<" "<<pp.GetYaw();
pp.SetOdometry(x,y,a);
robot.StopThread();

}
-----------------------------------------------------------------------------------------------------------------------------------

my config file:

driver
(
  name "p2os"
  provides ["odometry:::position2d:0" "sonar:0"]
  port "/dev/ttyUSB0"
)

driver
(
  name "sicklms200"
  provides ["laser:0" ]
  port "/dev/ttyUSB1"
  resolution 50
  serial_high_speed_mode 1
  serial_high_speed_baudremap 230400
  transfer_rate 38400
  connect_rate [9600 500000 38400]
  retry 2
  alwayson 1
)

driver
(
  name "vfh"
  provides ["6665:position2d:1"]
  requires ["odometry::6665:position2d:0" "6665:laser:0" ]
  safety_distance 0.1
)

-----------------------------------------------------------------------------------------------------------------------------------
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From reed at mobilerobots.com  Mon Oct  6 08:23:51 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Mon, 06 Oct 2008 08:23:51 -0400
Subject: [Pioneer-users] REG: GetXPos Problems
In-Reply-To: <d6c538de0810050723n7cc038exf6d06081c380ea95@mail.gmail.com>
References: <d6c538de0810050723n7cc038exf6d06081c380ea95@mail.gmail.com>
Message-ID: <48EA0357.503@mobilerobots.com>


Hi Guraraj,

The robot always resets its position when a client disconnects, this is normal 
behavior.  I don't know if Stage normally does this or not, or whether Player 
resets it when its client disconnects.

Reed



gururaj kosuru wrote:
> 
> Hello.
>  
> I am a student working with a Pioneer P3-DX.  I have a working 
> simulation using player and stage.  After moving the robot using the 
> program below,  the robot gives a valid reading of GetXPos() in the same 
> program.However, when this program is exited and another program queries 
> GetXPos(), the result is always zero with P3-DX. However, the simulation 
> with stage works fine. Kindly Help.
> --------------------------------------------------------------------------------------------------------------------------------
> #include <iostream>
> #include<stdio.h>
> #include<stdlib.h>
> #include <libplayerc++/playerc++.h>
> 
> int
> main(int argc, char *argv[])
> {
>   using namespace PlayerCc;
> 
>   PlayerClient    robot("localhost");
>   Position2dProxy pp(&robot,1/*PLAYER_OPEN_MODE*/);
>   float x=atof(argv[1]),y=atof(argv[2]),a=atof(argv[3]);
>   robot.StartThread();
> robot.Read();
> pp.RequestGeom();
> std::cout<<"X y t"<<pp.GetXPos()<<" "<<pp.GetYPos()<<" "<<pp.GetYaw();
> pp.SetOdometry(x,y,a);
> robot.StopThread();
> 
> }
> -----------------------------------------------------------------------------------------------------------------------------------
> 
> my config file:
> 
> driver
> (       
>   name "p2os"
>   provides ["odometry:::position2d:0" "sonar:0"]
>   port "/dev/ttyUSB0"
> )
> 
> driver
> (       
>   name "sicklms200"
>   provides ["laser:0" ]
>   port "/dev/ttyUSB1"
>   resolution 50
>   serial_high_speed_mode 1
>   serial_high_speed_baudremap 230400
>   transfer_rate 38400
>   connect_rate [9600 500000 38400]
>   retry 2
>   alwayson 1
> )
> 
> driver
> (
>   name "vfh"
>   provides ["6665:position2d:1"]
>   requires ["odometry::6665:position2d:0" "6665:laser:0" ]
>   safety_distance 0.1
> )
> 
> -----------------------------------------------------------------------------------------------------------------------------------
> 
> 
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> pioneer-users-leave at lists.mobilerobots.com


From wjxnet_126 at 126.com  Mon Oct  6 10:34:46 2008
From: wjxnet_126 at 126.com (wjxnet_126)
Date: Mon, 6 Oct 2008 22:34:46 +0800 (CST)
Subject: [Pioneer-users] How to describe Pioneer 3-AT's motions which can
	slip?
Message-ID: <32105482.689161223303686748.JavaMail.coremail@bj126app101.126.com>

Hello,everyone!
 
As Reed told that the Pioneer3-AT is a skid
steer robot, and the wheels must SLIP over the ground for it to rotate. Now i am wondering whether the following dyanmics really describles AT's motions:
 
The kinematic model of the mobile robot can be written as:
\begin{equation}
\dot x       = v \cos \theta  \\
\dot y       = v \cos \theta  \\
\dot \theta  = w
\end{equation}
where the triple $(x,y,\theta)$ denotes the position and the
orientation of the the vehicle in the inertial frame, $v,\w$ are
the linear and angular velocities of the mobile robot.

The above equaiton implies the velocity level nonholonomic constraint or NON-Slip condition, which can be represented by
$$
\dot x \sin \theta - \dot y \cos \theta=0.
$$
 
Maybe i am a bit mixed, thanks for your advice!
 
 
Jianxin Wu
 
 
 
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From trinathp at gmail.com  Mon Oct  6 18:24:48 2008
From: trinathp at gmail.com (trinath polisetty)
Date: Mon, 6 Oct 2008 18:24:48 -0400
Subject: [Pioneer-users] Missing .h files in arnl
Message-ID: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>

ArLocalizationTask.h
ArRobotAndLaser.h
ArMultiRobot.h

These files are missing in Arnl\include folder. If anybody have these plz
send them.

Thanks
trinath p
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From reed at mobilerobots.com  Tue Oct  7 08:44:20 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 07 Oct 2008 08:44:20 -0400
Subject: [Pioneer-users] Missing .h files in arnl
In-Reply-To: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>
References: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>
Message-ID: <48EB59A4.7010907@mobilerobots.com>


Hi Trinath, what version of ARNL do you have? (Check Arnl/version.txt)

I will send them to you seperately.

Reed



trinath polisetty wrote:
> ArLocalizationTask.h
> ArRobotAndLaser.h
> ArMultiRobot.h
> 
> These files are missing in Arnl\include folder. If anybody have these plz
> send them.
> 
> Thanks
> trinath p
> 
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> pioneer-users-leave at lists.mobilerobots.com


From reed at mobilerobots.com  Tue Oct  7 14:12:41 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 07 Oct 2008 14:12:41 -0400
Subject: [Pioneer-users] Missing .h files in arnl
In-Reply-To: <c4b3638f0810071039k42a227b1y540afd6a40ee991@mail.gmail.com>
References: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>	
	<48EB59A4.7010907@mobilerobots.com>
	<c4b3638f0810071039k42a227b1y540afd6a40ee991@mail.gmail.com>
Message-ID: <48EBA699.8080706@mobilerobots.com>


Hi Trinath, those headers are only needed for ARNL (the laser 
localization library).   If any programs try to include them, they need 
to be modified to use ArSonarLocalizationTask instead of ArLocalization 
task.

Are you having trouble building advanced.cpp for this reason?  What 
errors do you get when compiling? If you're on Linux try building 
"advancedSonar":

   make advancedSonar

this should disable the ARNL-specific stuff in header files and other 
code.  Let us know if this works or if you still have problems getting 
advanced to work.

Another approach if you don't want to use MobileEyes or any networking 
is to remove all the "Server" classes from guiServer, and instead call 
methods on ArSonarLocalizationTask and ArPathPlanningTask objects 
directly (like advanced.cpp does, or like the Server classes in 
src/ArServerClasses.cpp do).

Reed



trinath polisetty wrote:
> Hi Reed
> 
> MobileRobots Sonar Advanced Robotics Navigation and Localization version
> 1.5.1
> Built for ARIA version 2.5.1
> Could you suggest me how to use advanced.cpp in arnl\examples, since I dont
> want to use mobileeyes?
> 
> Plz reply asap
> 
> Thanks
> Trinath
> 
> On Tue, Oct 7, 2008 at 8:44 AM, Reed Hedges <reed at mobilerobots.com> wrote:
> 
>> Hi Trinath, what version of ARNL do you have? (Check Arnl/version.txt)
>>
>> I will send them to you seperately.
>>
>> Reed
>>
>>
>>
>> trinath polisetty wrote:
>>> ArLocalizationTask.h
>>> ArRobotAndLaser.h
>>> ArMultiRobot.h
>>>
>>> These files are missing in Arnl\include folder. If anybody have these plz
>>> send them.
>>>
>>> Thanks
>>> trinath p
>>>
>>>
>>>
>>> ------------------------------------------------------------------------
>>>
>>> _______________________________________________
>>> Pioneer-users mailing list
>>> Pioneer-users at lists.mobilerobots.com
>>> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
>>>
>>> To unsubscribe visit the above webpage or send an e-mail to:
>>>
>>> pioneer-users-leave at lists.mobilerobots.com
>> _______________________________________________
>> Pioneer-users mailing list
>> Pioneer-users at lists.mobilerobots.com
>> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
>>
>> To unsubscribe visit the above webpage or send an e-mail to:
>>
>> pioneer-users-leave at lists.mobilerobots.com
>>
> 
> 
> 


From trinathp at gmail.com  Tue Oct  7 15:46:20 2008
From: trinathp at gmail.com (trinath polisetty)
Date: Tue, 7 Oct 2008 15:46:20 -0400
Subject: [Pioneer-users] Missing .h files in arnl
In-Reply-To: <48EBA699.8080706@mobilerobots.com>
References: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>
	<48EB59A4.7010907@mobilerobots.com>
	<c4b3638f0810071039k42a227b1y540afd6a40ee991@mail.gmail.com>
	<48EBA699.8080706@mobilerobots.com>
Message-ID: <c4b3638f0810071246n6667b80ava51e438539319c97@mail.gmail.com>

I am using Visual studio 2008 in Windows XP. I included advanced.cpp in
guisonar example solution and removed the rest of the projects to achieve
same included files and paths and renamed the project. When I was trying to
build it, there was only one error which I was able to remove. .EXE file is
created successfully in arnl\bin folder. But when I tried to run
advanced.exe in command prompt with a map that I created in mapper3basic, it
was able to load the map and start the localization thread but failed to set
up the path planning thread. I dont want to use guiserver example since I
want to keep the testing simple. Any help in this.

I will also try to follow up the above mail.

thanks
Trinath

On Tue, Oct 7, 2008 at 2:12 PM, Reed Hedges <reed at mobilerobots.com> wrote:

>
> Hi Trinath, those headers are only needed for ARNL (the laser
> localization library).   If any programs try to include them, they need
> to be modified to use ArSonarLocalizationTask instead of ArLocalization
> task.
>
> Are you having trouble building advanced.cpp for this reason?  What
> errors do you get when compiling? If you're on Linux try building
> "advancedSonar":
>
>   make advancedSonar
>
> this should disable the ARNL-specific stuff in header files and other
> code.  Let us know if this works or if you still have problems getting
> advanced to work.
>
> Another approach if you don't want to use MobileEyes or any networking
> is to remove all the "Server" classes from guiServer, and instead call
> methods on ArSonarLocalizationTask and ArPathPlanningTask objects
> directly (like advanced.cpp does, or like the Server classes in
> src/ArServerClasses.cpp do).
>
> Reed
>
>
>
> trinath polisetty wrote:
> > Hi Reed
> >
> > MobileRobots Sonar Advanced Robotics Navigation and Localization version
> > 1.5.1
> > Built for ARIA version 2.5.1
> > Could you suggest me how to use advanced.cpp in arnl\examples, since I
> dont
> > want to use mobileeyes?
> >
> > Plz reply asap
> >
> > Thanks
> > Trinath
> >
> > On Tue, Oct 7, 2008 at 8:44 AM, Reed Hedges <reed at mobilerobots.com>
> wrote:
> >
> >> Hi Trinath, what version of ARNL do you have? (Check Arnl/version.txt)
> >>
> >> I will send them to you seperately.
> >>
> >> Reed
> >>
> >>
> >>
> >> trinath polisetty wrote:
> >>> ArLocalizationTask.h
> >>> ArRobotAndLaser.h
> >>> ArMultiRobot.h
> >>>
> >>> These files are missing in Arnl\include folder. If anybody have these
> plz
> >>> send them.
> >>>
> >>> Thanks
> >>> trinath p
> >>>
> >>>
> >>>
> >>>
> ------------------------------------------------------------------------
> >>>
> >>> _______________________________________________
> >>> Pioneer-users mailing list
> >>> Pioneer-users at lists.mobilerobots.com
> >>> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> >>>
> >>> To unsubscribe visit the above webpage or send an e-mail to:
> >>>
> >>> pioneer-users-leave at lists.mobilerobots.com
> >> _______________________________________________
> >> Pioneer-users mailing list
> >> Pioneer-users at lists.mobilerobots.com
> >> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> >>
> >> To unsubscribe visit the above webpage or send an e-mail to:
> >>
> >> pioneer-users-leave at lists.mobilerobots.com
> >>
> >
> >
> >
>
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
>
> To unsubscribe visit the above webpage or send an e-mail to:
>
> pioneer-users-leave at lists.mobilerobots.com
>



-- 
trinath p
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From reed at mobilerobots.com  Tue Oct  7 20:18:23 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 07 Oct 2008 20:18:23 -0400
Subject: [Pioneer-users] Missing .h files in arnl
In-Reply-To: <c4b3638f0810071246n6667b80ava51e438539319c97@mail.gmail.com>
References: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>	
	<48EB59A4.7010907@mobilerobots.com>	
	<c4b3638f0810071039k42a227b1y540afd6a40ee991@mail.gmail.com>	
	<48EBA699.8080706@mobilerobots.com>
	<c4b3638f0810071246n6667b80ava51e438539319c97@mail.gmail.com>
Message-ID: <48EBFC4F.606@mobilerobots.com>

trinath polisetty wrote:
> I am using Visual studio 2008 in Windows XP. I included advanced.cpp in
> guisonar example solution and removed the rest of the projects to achieve
> same included files and paths and renamed the project. 

OK, on Windows instead of "make advancedSonar", make sure that SONARNL 
is defined as a preprocessor symbol, and that you are linking to the 
SONARNL library- like guiServerSonar does.

When I was trying to
> build it, there was only one error which I was able to remove. 

Out of curiosity, what was the error?

 > it
> was able to load the map and start the localization thread but failed to set
> up the path planning thread. I dont want to use guiserver example since I
> want to keep the testing simple. Any help in this.

What happens with path planning? Does it print out any errors? What 
happens (or does not happen) when you press "p" or "r" or "h"?

I'll take another look at advanced.cpp tomorrow and let you know if I 
see anything  that might help you.

Reed


From reed at mobilerobots.com  Wed Oct  8 09:15:15 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 08 Oct 2008 09:15:15 -0400
Subject: [Pioneer-users] Aria - MobileSim Connection
In-Reply-To: <532786.62236.qm@web37302.mail.mud.yahoo.com>
References: <532786.62236.qm@web37302.mail.mud.yahoo.com>
Message-ID: <48ECB263.5070507@mobilerobots.com>


Hi Erdi, are any error messages printed out?

We recommend you upgrade Visual Studio to 2003, or to 2005 or 2008.  You will 
have to rebuild ARIA with the new compiler. Visual Studio 6 has incomplete C++ 
support among its problems.

Reed


Erdi wrote:
> Hi everyone,
> i have ARIA Version 2.5-1 and compiled one of the examples given in its 
> ../examples directory in C++, Microsoft Vsual Studio 6.0.I am using 
> Windows operating system.I built the .exe file successfully but when i 
> run it it starts to run but after a short while it gives error and stop; 
> so no connection occurs between ARIA and MobileSim.I wonder whether i 
> must so something else or not.I used the example code which was supposed 
> to work but i dont know weheter i must do another thing or not.Is there 
> anyone can help me?
> 
> Erdem
> 
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> pioneer-users-leave at lists.mobilerobots.com


From tomaz.batic at gmail.com  Wed Oct  8 14:30:49 2008
From: tomaz.batic at gmail.com (=?ISO-8859-2?Q?Toma=BE_Bati=E8?=)
Date: Wed, 8 Oct 2008 20:30:49 +0200
Subject: [Pioneer-users] pionner arm
Message-ID: <ae62d03d0810081130o4eff8c45h3ef9b7aef581976@mail.gmail.com>

 hello

 Where can i find more information (description, components, dimension,
scheme, servo motors, dof ....) about pioneer arm ?
 I alredy have a manual of arm.

 How can i run the arm directly from a pc? Do you have any software or
information for this configuration?

 Thank you for the answers.
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From maximiliano at evolution.com  Wed Oct  8 20:55:19 2008
From: maximiliano at evolution.com (maxi)
Date: Wed, 08 Oct 2008 17:55:19 -0700
Subject: [Pioneer-users] Flash problem
Message-ID: <48ED5677.7040208@evolution.com>

My problem started a few weeks ago. First when you turn it on it stopped 
doing the beeping sound, and could not get  any connection unless  you  
reset it. Today  i  tried to flash it with Arcos and it told that could 
not read the flash. And after this  i could not make it work. I can not 
get connection nor anything. The status Led blinks waiting a connection, 
but i can not do anything.
Does anyone know if is posible to flash it or how fix this problem.

Thanks


From naim.sidek at vanderbilt.edu  Mon Oct 13 09:38:06 2008
From: naim.sidek at vanderbilt.edu (Naim Sidek)
Date: Mon, 13 Oct 2008 08:38:06 -0500
Subject: [Pioneer-users]  Mounting SICK LRF to pioneer P3DX
In-Reply-To: <47F13B44.8050702@mobilerobots.com>
References: <31665422.902921206889892722.JavaMail.coremail@bj126app102.126.com>
	<000901c89288$18eea640$4500640a@mjdell>
	<47F13B44.8050702@mobilerobots.com>
Message-ID: <48F34F3E.8080309@vanderbilt.edu>

Guys,

I have this problem after mounting the SICK to my Pioneer P3DX. I run
./demo to check whether the laser is working.
But what I got is this...

ArModeLaser is connecting to the laser.
ArSick: waiting for laser to power on.
Losing connection because nothing received from robot in 8000 miliseconds.
Lost connection to the robot because of error.
Exiting robot run because of lost connection.
ArSick: Disconnecting from laser that was not fully connected to...
this may cause problem later.

The laser has power as the LED is ON and the serial cable is connected 
to COM 3 as guided.
Anybody has the same experiance?

Thanks

-Naim

>


From prybski at cs.cmu.edu  Mon Oct 13 13:33:37 2008
From: prybski at cs.cmu.edu (Paul E. Rybski)
Date: Mon, 13 Oct 2008 13:33:37 -0400
Subject: [Pioneer-users] connecting a separate e-stop button to a Pioneer3 DX
Message-ID: <48F38671.7040506@cs.cmu.edu>

Hi,
	I'd like to wire in an e-stop button to a Pioneer 3 DX similar to how a
separate e-stop button is provided on the Peoplebot robots.  I've
located where the e-stop lines are defined for the P3DX (referenced in
Table 28 on page 61 of the Pioneer 3 Operations Manual v5) and see that
there is a ribbon cable plugged into the microcontroller board on my
robot.  I'm wondering if there is a better way to access this line
rather than having to make my own cable or tap into the existing cable
in order to trigger the e-stop line.

Any advice would be appreciated.

Thanks,

-Paul

-- 
Paul E. Rybski, Ph.D., Systems Scientist
Robotics Institute, Carnegie Mellon University
Phone: 412-268-7417, Fax: 412-268-7350
Web: http://www.cs.cmu.edu/~prybski


From reed at mobilerobots.com  Tue Oct 14 14:01:45 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 14 Oct 2008 14:01:45 -0400
Subject: [Pioneer-users] pionner arm
In-Reply-To: <ae62d03d0810081130o4eff8c45h3ef9b7aef581976@mail.gmail.com>
References: <ae62d03d0810081130o4eff8c45h3ef9b7aef581976@mail.gmail.com>
Message-ID: <48F4DE89.9060409@mobilerobots.com>

Toma? Bati? wrote:
>  hello
> 
>  Where can i find more information (description, components, dimension,
> scheme, servo motors, dof ....) about pioneer arm ?

Here is a list of some specifications:


We can send you a diagram showing dimensions if you want that.



>  How can i run the arm directly from a pc? Do you have any software or
> information for this configuration?

As far as I know, the only supported way to control the arm is via the 
robot firmware. I can try to find out more about its interface if you 
want though.

Reed


From reed at mobilerobots.com  Tue Oct 14 14:02:57 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 14 Oct 2008 14:02:57 -0400
Subject: [Pioneer-users] Flash problem
In-Reply-To: <48ED5677.7040208@evolution.com>
References: <48ED5677.7040208@evolution.com>
Message-ID: <48F4DED1.7020004@mobilerobots.com>


Hello, have you tried re-flashing it?  What model robot is it and what 
version of ARCOS are you trying to install?

Reed



maxi wrote:
> My problem started a few weeks ago. First when you turn it on it stopped 
> doing the beeping sound, and could not get  any connection unless  you  
> reset it. Today  i  tried to flash it with Arcos and it told that could 
> not read the flash. And after this  i could not make it work. I can not 
> get connection nor anything. The status Led blinks waiting a connection, 
> but i can not do anything.
> Does anyone know if is posible to flash it or how fix this problem.
> 
> Thanks
> 
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> pioneer-users-leave at lists.mobilerobots.com
> 


From reed at mobilerobots.com  Tue Oct 14 14:14:15 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Tue, 14 Oct 2008 14:14:15 -0400
Subject: [Pioneer-users] Missing .h files in arnl
In-Reply-To: <c4b3638f0810072310g74abac8ekb297eb17a3a7118f@mail.gmail.com>
References: <c4b3638f0810061524o77de62b0tea6c980434633644@mail.gmail.com>	
	<48EB59A4.7010907@mobilerobots.com>	
	<c4b3638f0810071039k42a227b1y540afd6a40ee991@mail.gmail.com>	
	<48EBA699.8080706@mobilerobots.com>	
	<c4b3638f0810071246n6667b80ava51e438539319c97@mail.gmail.com>	
	<48EBFC4F.606@mobilerobots.com>
	<c4b3638f0810072310g74abac8ekb297eb17a3a7118f@mail.gmail.com>
Message-ID: <48F4E177.5010304@mobilerobots.com>

trinath polisetty wrote:
> this is what the error  is*
> .\advanced.cpp(608) : error C3861: 'sleep': identifier not found*
> 
> suggest me what the error could be about.

You can change this to ArUtil::sleep(), which will work on Windows.
> 
> 1)after solving the error and building the advanced.exe, it cannot find map
> in arnl\examples folder(check prob1.bmp).

SONARNL needs "lines" in a map to localize from sonar readings (it is 
looking for surfaces that the sonar readings may be indicating).  You 
can draw these in the map using the "line" tool in Mapper3Basic.


> 2)after copying the map in arnl\bin folder(check prob2.bmp

advanced.cpp prints this message if it did not have the prerequisites 
for creating an instance of ArPathPlanningTask.  Make sure that the 
preprocessor symbol "SONARNL" is defined (in Visual Studio project 
configuration).

Reed


From blomba at unione.com.br  Wed Oct 22 08:48:50 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Wed, 22 Oct 2008 10:48:50 -0200
Subject: [Pioneer-users] Problem with Localization (PeopleBot)
Message-ID: <20081022124850.1033.qmail@hm1079.locaweb.com.br>

Hi ARIA users,

I found the following problem... 

When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... 

But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don?t leave the place ... 

The robot comes to the route (path), even he turns to the right direction of goal, but don?t leave the place .. 

Does anyone have any idea of what I do to solve this problem?

I tried to change the parameters of the robot but not had success.

I look back 

Grateful now

Bruno Teixeira Lomba

From reed at mobilerobots.com  Wed Oct 22 12:13:46 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 22 Oct 2008 12:13:46 -0400
Subject: [Pioneer-users] connecting a separate e-stop button to a
 Pioneer3 DX
In-Reply-To: <48F38671.7040506@cs.cmu.edu>
References: <48F38671.7040506@cs.cmu.edu>
Message-ID: <48FF513A.9090503@mobilerobots.com>

Paul E. Rybski wrote:
> Hi,
> 	I'd like to wire in an e-stop button to a Pioneer 3 DX similar to how a
> separate e-stop button is provided on the Peoplebot robots.  I've
> located where the e-stop lines are defined for the P3DX (referenced in
> Table 28 on page 61 of the Pioneer 3 Operations Manual v5) and see that
> there is a ribbon cable plugged into the microcontroller board on my
> robot.  I'm wondering if there is a better way to access this line
> rather than having to make my own cable or tap into the existing cable
> in order to trigger the e-stop line.

Hi Paul, as far as I know that header is the only place where the e-stop is. 
Maybe you can make as simple intermediary connector that would let you attach to 
the estop or other lines, while avoiding having to cut up the original.

If you find some useful parts in making this I'm sure other people would be 
interested to know what they were, if they search this archive. And I'll add it 
to the wiki.

Reed

From reed at mobilerobots.com  Wed Oct 22 12:26:32 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 22 Oct 2008 12:26:32 -0400
Subject: [Pioneer-users] Problem with Localization (PeopleBot)
In-Reply-To: <20081022124850.1033.qmail@hm1079.locaweb.com.br>
References: <20081022124850.1033.qmail@hm1079.locaweb.com.br>
Message-ID: <48FF5438.3000108@mobilerobots.com>


Does localization fail, or is it unable to follow the path?  If localization 
fails, guiServerSonar will indicate "Lost" as its status (in MobileEyes and log 
messages).  You will also see a low localization score (in MobileEyes open 
View->Details and View->Custom Details), below its configured threshold.

If it's localization is not lost, but it's just not following the path, then 
it's probably due to an obstacle either from the map or from a sensor.  Try it 
in a very open space, such that the goal point, the robot, and the path are all 
far away from the map obstacles. The FreeSpace parameter, along with the size of 
the robot and its Clearance and Padding parameters, will determine how far away 
map obstacles must be.  See Tools->Robot Config in MobileEyes to see and modify 
these parameters.  Or edit sonarnl.p.

Reed



Bruno Teixeira Lomba wrote:
> Hi ARIA users,
> 
> I found the following problem... 
> 
> When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... 
> 
> But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don?t leave the place ... 
> 
> The robot comes to the route (path), even he turns to the right direction of goal, but don?t leave the place .. 
> 
> Does anyone have any idea of what I do to solve this problem?
> 
> I tried to change the parameters of the robot but not had success.
> 
> I look back 
> 
> Grateful now
> 
> Bruno Teixeira Lomba
> 


From blomba at unione.com.br  Wed Oct 22 12:50:36 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Wed, 22 Oct 2008 14:50:36 -0200
Subject: [Pioneer-users]
	=?iso-8859-1?q?=5BAria-users=5D_Problem_with_Loca?=
	=?iso-8859-1?q?lization_=28PeopleBot=29?=
In-Reply-To: <48FF5438.3000108@mobilerobots.com>
References: <48FF5438.3000108@mobilerobots.com>
Message-ID: <20081022165036.25229.qmail@hm1079.locaweb.com.br>

If I run wander, or force him to go ahead, behind or other commands, he can run, however going to the goal does not work ...

The message "Failed going to goal..."

I?ll test these commands and look at sonarnl.p.

Thanks again.

Bruno Teixeira Lomba




Wed, 22 Oct 2008 12:26:32 -0400, Reed Hedges <reed at mobilerobots.com> escreveu:

> 
> Does localization fail, or is it unable to follow the path?  If localization 
> fails, guiServerSonar will indicate "Lost" as its status (in MobileEyes and log 
> messages).  You will also see a low localization score (in MobileEyes open 
> View->Details and View->Custom Details), below its configured threshold.
> 
> If it's localization is not lost, but it's just not following the path, then 
> it's probably due to an obstacle either from the map or from a sensor.  Try it 
> in a very open space, such that the goal point, the robot, and the path are all 
> far away from the map obstacles. The FreeSpace parameter, along with the size of 
> the robot and its Clearance and Padding parameters, will determine how far away 
> map obstacles must be.  See Tools->Robot Config in MobileEyes to see and modify 
> these parameters.  Or edit sonarnl.p.
> 
> Reed
> 
> 
> 
> Bruno Teixeira Lomba wrote:
> > Hi ARIA users,
> > 
> > I found the following problem... 
> > 
> > When I try to run the guiServerSonar program in simulated robot, the robot can go from one point to a goal of map, through MobileEyes normally... 
> > 
> > But when I run the program in real robot (PeopleBot), when I try to make it going to a goal, he simply lost the position and don??t leave the place ... 
> > 
> > The robot comes to the route (path), even he turns to the right direction of goal, but don??t leave the place .. 
> > 
> > Does anyone have any idea of what I do to solve this problem?
> > 
> > I tried to change the parameters of the robot but not had success.
> > 
> > I look back 
> > 
> > Grateful now
> > 
> > Bruno Teixeira Lomba
> > 
> 
> _______________________________________________
> 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
> 

From reed at mobilerobots.com  Wed Oct 22 12:53:06 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Wed, 22 Oct 2008 12:53:06 -0400
Subject: [Pioneer-users] connecting a separate e-stop button to a
 Pioneer3 DX
In-Reply-To: <48FF513A.9090503@mobilerobots.com>
References: <48F38671.7040506@cs.cmu.edu> <48FF513A.9090503@mobilerobots.com>
Message-ID: <48FF5A72.2070706@mobilerobots.com>



A clarification, by the way, I don't want to mislead anyone-- the e-stop switch 
is not connected to the microcontroller board via the motor/power connector, 
it's on the motor-power board.  The input labelled "e-stop detect" in the 
appendix A is just part of the communications of state between the motor-power 
board and the microcontroller board.

However, you can't just plug in a switch.  It would require a new board, or 
making a small modification to the existing board (and the warranty would not 
cover that or any other problems that might arise).  You can contact technical 
support about that.

Reed Hedges wrote:
> Paul E. Rybski wrote:
>> Hi,
>> 	I'd like to wire in an e-stop button to a Pioneer 3 DX similar to how a
>> separate e-stop button is provided on the Peoplebot robots.  I've
>> located where the e-stop lines are defined for the P3DX (referenced in
>> Table 28 on page 61 of the Pioneer 3 Operations Manual v5) and see that
>> there is a ribbon cable plugged into the microcontroller board on my
>> robot.  I'm wondering if there is a better way to access this line
>> rather than having to make my own cable or tap into the existing cable
>> in order to trigger the e-stop line.
> 
> Hi Paul, as far as I know that header is the only place where the e-stop is. 
> Maybe you can make as simple intermediary connector that would let you attach to 
> the estop or other lines, while avoiding having to cut up the original.
> 
> If you find some useful parts in making this I'm sure other people would be 
> interested to know what they were, if they search this archive. And I'll add it 
> to the wiki.
> 
> Reed
> _______________________________________________
> Pioneer-users mailing list
> Pioneer-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/pioneer-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> pioneer-users-leave at lists.mobilerobots.com
> 


From blomba at unione.com.br  Thu Oct 23 21:28:00 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Thu, 23 Oct 2008 22:28:00 -0300
Subject: [Pioneer-users] Log Sonar Readings
Message-ID: <20081024002800.20994.qmail@hm1305.locaweb.com.br>

Hi Aria users,

I?d like to create a log file (.txt) of the sonar readings of my robot as it navigates using guiServerSonar ... 

I need information such as x, y, theta, and the sonar... 
I wonder how (getx(), getY (), getTh() and getSonarRange()).. 

But I don?t know which command use to make it do so on loop and also in what point of my program do it ...

I thought of something like: 

 while (robot.isRunning ()) ( 
    ArLog::log(ArLog::Normal, "% f", robot.getX()); 
   ); 

What point in the guiServerSonar I can put this?

Could you please help me?

Thanks.

Bruno Teixeira Lomba


From erdemdilmen at yahoo.com  Sat Oct 25 15:13:56 2008
From: erdemdilmen at yahoo.com (Erdi)
Date: Sat, 25 Oct 2008 12:13:56 -0700 (PDT)
Subject: [Pioneer-users] P3DX Energy Model
Message-ID: <911872.69373.qm@web37304.mail.mud.yahoo.com>

Hello everyone,

I am trying to maintain an energy model of robots P3DX in order to use that info in energy saving route planning.I need the info of the energy spent by the robot while rotating, translating, accelerating/deccelerating, etc...I searched for that in www.mobilerobots.com and couldn't find any usefull document.Is there anyone that has such kind of document or knows where to find it?

Erdem Dilmen



      
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From ericavery at epix.net  Sun Oct 26 14:11:12 2008
From: ericavery at epix.net (Eric Avery)
Date: Sun, 26 Oct 2008 14:11:12 -0400
Subject: [Pioneer-users] Mounting SICK LRF to pioneer P3DX
In-Reply-To: <48F34F3E.8080309@vanderbilt.edu>
References: <31665422.902921206889892722.JavaMail.coremail@bj126app102.126.com><000901c89288$18eea640$4500640a@mjdell><47F13B44.8050702@mobilerobots.com>
	<48F34F3E.8080309@vanderbilt.edu>
Message-ID: <002101c93796$3b5a5e50$07fea8c0@flowbenew>

Naim, 

I ran into what I'm guessing is a similar issue with a peoplebot. If the
led's on the front of the laser are on before you attempt to connect to it
with the demo program then something else is activating the com port. My
issue was that the driver software for the touch screen was attempting to
connect to the laser com port and thus blocking ARIA from the laser. Take a
look for some other software that might be accessing the com port that the
laser is connected to.

Hope this helps. 
Eric Avery

-----Original Message-----
From: pioneer-users-bounces at lists.mobilerobots.com
[mailto:pioneer-users-bounces at lists.mobilerobots.com] On Behalf Of Naim
Sidek
Sent: Monday, October 13, 2008 9:38 AM
To: Reed Hedges
Cc: Pioneer Users Mailing List
Subject: [Pioneer-users] Mounting SICK LRF to pioneer P3DX

Guys,

I have this problem after mounting the SICK to my Pioneer P3DX. I run
./demo to check whether the laser is working.
But what I got is this...

ArModeLaser is connecting to the laser.
ArSick: waiting for laser to power on.
Losing connection because nothing received from robot in 8000 miliseconds.
Lost connection to the robot because of error.
Exiting robot run because of lost connection.
ArSick: Disconnecting from laser that was not fully connected to...
this may cause problem later.

The laser has power as the LED is ON and the serial cable is connected 
to COM 3 as guided.
Anybody has the same experiance?

Thanks

-Naim

>

_______________________________________________
Pioneer-users mailing list
Pioneer-users at lists.mobilerobots.com
http://lists.mobilerobots.com/mailman/listinfo/pioneer-users

To unsubscribe visit the above webpage or send an e-mail to:

pioneer-users-leave at lists.mobilerobots.com




From blomba at unione.com.br  Mon Oct 27 07:55:54 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Mon, 27 Oct 2008 09:55:54 -0200
Subject: [Pioneer-users] Log Sonar Readings
In-Reply-To: <N/A>
References: <N/A>
Message-ID: <20081027115554.31665.qmail@hm1079.locaweb.com.br>

I need to generate this log with the data from the position of the robot and their sonar, to perform a method of mapping offline already implemented. 

My problem is that I could not find the right time to generate this log ... 

I am customizing the guiServerSonar ... 

In the simulated environment, I run the MobileSim to the map created, then the road guiServerSonar and launching MobileEyes...

At this time of transition pro MobileEyes seems that I just lose the information ... 

If you can help me in any way I am grateful ... 

I need only generate a log as I said, as he navigates through the map and I viewed the GUI MobileEYes 

Thank you very much


Bruno Teixeira Lomba




Thu, 23 Oct 2008 22:28:00 -0300, "Bruno Teixeira Lomba" <blomba at unione.com.br> escreveu:

> Hi Aria users,
> 
> I?d like to create a log file (.txt) of the sonar readings of my robot as it navigates using guiServerSonar ... 
> 
> I need information such as x, y, theta, and the sonar... 
> I wonder how (getx(), getY (), getTh() and getSonarRange()).. 
> 
> But I don?t know which command use to make it do so on loop and also in what point of my program do it ...
> 
> I thought of something like: 
> 
>  while (robot.isRunning ()) ( 
>     ArLog::log(ArLog::Normal, "% f", robot.getX()); 
>    ); 
> 
> What point in the guiServerSonar I can put this?
> 
> Could you please help me?
> 
> Thanks.
> 
> Bruno Teixeira Lomba
> 
> 
> 
> 
> 

From reed at mobilerobots.com  Mon Oct 27 09:09:17 2008
From: reed at mobilerobots.com (Reed Hedges)
Date: Mon, 27 Oct 2008 09:09:17 -0400
Subject: [Pioneer-users] Log Sonar Readings
In-Reply-To: <20081024002800.20994.qmail@hm1305.locaweb.com.br>
References: <20081024002800.20994.qmail@hm1305.locaweb.com.br>
Message-ID: <4905BD7D.3020105@mobilerobots.com>

Bruno Teixeira Lomba wrote:
> I thought of something like: 
> 
>  while (robot.isRunning ()) ( 
>     ArLog::log(ArLog::Normal, "% f", robot.getX()); 
>    ); 
> 

This will work, if you also lock the robot and include a sleep to avoid 
consuming too much CPU time. You can use ArLog::init() to choose a file to write 
all log messages to. This will include messages printed by ARIA classes.  (You 
could use fprintf or a std::ofstream instead if you don't want to use ArLog)


 > What point in the guiServerSonar I can put this?

Replace the call to waitForRunExit() with your loop.


Example:


At start of program:
// Write all Normal and Terse ArLog messages to the file "log.txt" (Verbose is 
filtered out)
ArLog::init(ArLog::File, ArLog::Normal, "log.txt");


at end of program instead of robot.waitForRunExit():

// Log X, Y, Theta every second.
while(robot.getRunningWithLock()) {
	robot.lock();
	ArLog::log(ArLog::Normal, "%f %f %f", robot.getX(), robot.getY(), robot.getTh());
	robot.unlock();
	ArUtil::sleep(1000); //msec
}



There is also a class called ArDataLogger which writes information to a file 
separately from the main loop and not using ArLog.  ArDataLogger must be 
configured using ArConfig (you use MobileEyes Tools->Robot Configuration to 
change parameters) and also given ArFunctor objects to invoke to retrieve data 
to log (use addString).

Reed


From blomba at unione.com.br  Mon Oct 27 19:50:00 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Mon, 27 Oct 2008 20:50:00 -0300
Subject: [Pioneer-users]
	=?iso-8859-1?q?=5BAria-users=5D_Log_Sonar_Reading?=
	=?iso-8859-1?q?s?=
Message-ID: <20081027225000.27640.qmail@hm1305.locaweb.com.br>

I ran the guiServerSonar with their tips and found the following problems: 

- I did not use robot.getRunningWithLock (), only robot.isRunning, because not compiled...

- To turn it always generates the same values. He leads by 1 in 1 second, but always with the same values. I did the test only with the getX. 

Here attached image of the simulation with the issue said.

Could you help me? 

Thanks again

Bruno Teixeira Lomba



Mon, 27 Oct 2008 09:09:17 -0400, Reed Hedges <reed at mobilerobots.com> escreveu:

> Bruno Teixeira Lomba wrote:
> > I thought of something like: 
> > 
> >  while (robot.isRunning ()) ( 
> >     ArLog::log(ArLog::Normal, "% f", robot.getX()); 
> >    ); 
> > 
> 
> This will work, if you also lock the robot and include a sleep to avoid 
> consuming too much CPU time. You can use ArLog::init() to choose a file to write 
> all log messages to. This will include messages printed by ARIA classes.  (You 
> could use fprintf or a std::ofstream instead if you don't want to use ArLog)
> 
> 
>  > What point in the guiServerSonar I can put this?
> 
> Replace the call to waitForRunExit() with your loop.
> 
> 
> Example:
> 
> 
> At start of program:
> // Write all Normal and Terse ArLog messages to the file "log.txt" (Verbose is 
> filtered out)
> ArLog::init(ArLog::File, ArLog::Normal, "log.txt");
> 
> 
> at end of program instead of robot.waitForRunExit():
> 
> // Log X, Y, Theta every second.
> while(robot.getRunningWithLock()) {
> 	robot.lock();
> 	ArLog::log(ArLog::Normal, "%f %f %f", robot.getX(), robot.getY(), robot.getTh());
> 	robot.unlock();
> 	ArUtil::sleep(1000); //msec
> }
> 
> 
> 
> There is also a class called ArDataLogger which writes information to a file 
> separately from the main loop and not using ArLog.  ArDataLogger must be 
> configured using ArConfig (you use MobileEyes Tools->Robot Configuration to 
> change parameters) and also given ArFunctor objects to invoke to retrieve data 
> to log (use addString).
> 
> Reed
> 
> _______________________________________________
> Aria-users mailing list
> Aria-users at lists.mobilerobots.com
> http://lists.mobilerobots.com/mailman/listinfo/aria-users
> 
> To unsubscribe visit the above webpage or send an e-mail to:
> 
> aria-users-leave at lists.mobilerobots.com
> 
> 
> 
> 
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From blomba at unione.com.br  Tue Oct 28 19:47:54 2008
From: blomba at unione.com.br (=?ISO-8859-1?Q?Bruno=20Teixeira=20Lomba?=)
Date: Tue, 28 Oct 2008 21:47:54 -0200
Subject: [Pioneer-users]
	=?iso-8859-1?q?=5BAria-users=5D_Log_Sonar_Reading?=
	=?iso-8859-1?q?s?=
In-Reply-To: <20081027225000.27640.qmail@hm1305.locaweb.com.br>
References: <20081027225000.27640.qmail@hm1305.locaweb.com.br>
Message-ID: <20081028234754.8937.qmail@hm1079.locaweb.com.br>

Could you help me please???

I didn?t solve the problem yet.

Thanks

Bruno Teixeira Lomba


Mon, 27 Oct 2008 20:50:00 -0300, "Bruno Teixeira Lomba" <blomba at unione.com.br> escreveu:

> 
> 
> I ran the guiServerSonar with their tips and found the following problems: 
> 
> - I did not use robot.getRunningWithLock (), only robot.isRunning, because not compiled...
> 
> - To turn it always generates the same values. He leads by 1 in 1 second, but always with the same values. I did the test only with the getX. 
> 
> Here attached image of the simulation with the issue said.
> 
> Could you help me? 
> 
> Thanks again
> 
> Bruno Teixeira Lomba
> 
> 
> 
> Mon, 27 Oct 2008 09:09:17 -0400, Reed Hedges <reed at mobilerobots.com> escreveu:
> 
> > Bruno Teixeira Lomba wrote:
> > > I thought of something like: 
> > > 
> > >  while (robot.isRunning ()) ( 
> > >     ArLog::log(ArLog::Normal, "% f", robot.getX()); 
> > >    ); 
> > > 
> > 
> > This will work, if you also lock the robot and include a sleep to avoid 
> > consuming too much CPU time. You can use ArLog::init() to choose a file to write 
> > all log messages to. This will include messages printed by ARIA classes.  (You 
> > could use fprintf or a std::ofstream instead if you don't want to use ArLog)
> > 
> > 
> >  > What point in the guiServerSonar I can put this?
> > 
> > Replace the call to waitForRunExit() with your loop.
> > 
> > 
> > Example:
> > 
> > 
> > At start of program:
> > // Write all Normal and Terse ArLog messages to the file "log.txt" (Verbose is 
> > filtered out)
> > ArLog::init(ArLog::File, ArLog::Normal, "log.txt");
> > 
> > 
> > at end of program instead of robot.waitForRunExit():
> > 
> > // Log X, Y, Theta every second.
> > while(robot.getRunningWithLock()) {
> > 	robot.lock();
> > 	ArLog::log(ArLog::Normal, "%f %f %f", robot.getX(), robot.getY(), robot.getTh());
> > 	robot.unlock();
> > 	ArUtil::sleep(1000); //msec
> > }
> > 
> > 
> > 
> > There is also a class called ArDataLogger which writes information to a file 
> > separately from the main loop and not using ArLog.  ArDataLogger must be 
> > configured using ArConfig (you use MobileEyes Tools->Robot Configuration to 
> > change parameters) and also given ArFunctor objects to invoke to retrieve data 
> > to log (use addString).
> > 
> > Reed
> > 
> > _______________________________________________
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> > http://lists.mobilerobots.com/mailman/listinfo/aria-users
> > 
> > To unsubscribe visit the above webpage or send an e-mail to:
> > 
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> > 
> > 
> > 
> > 
> 
>