From reed at mobilerobots.com Tue Jun 2 14:42:51 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Tue, 02 Jun 2009 14:42:51 -0400 Subject: [Pioneer-users] Bugfix Releases: Aria 2.7.1 and BaseArnl 1.7.1 for Windows Message-ID: <4A2572AB.1040603@mobilerobots.com> Aria 2.7.1 fixes a bug that can sometimes appear on Windows. BaseArnl 1.7.1 includes this fix as well. ArLMS2xx (class for connecting to the SICK LMS-200 laser rangefinder) would sometimes end up in a mode that caused it to erroneously fail to connect to the laser. (Symptoms are that it would log that it was connected to the simulator, but then log that not data was received, and disconnect.) Also fixed is some laser connection behavior that would cause problems for the ARIA 'demo' example, but not cause problems for most other programs. Only Windows was affected, and only the Windows packages for ARIA and BaseArnl have been updated. ARNL, MOGS and SONARNL 1.7.0 localization libraries will work with BaseArnl 1.7.1. ArPowerCube, Speech, and the other 2.7.0 ARIA accessory libraries will also work with ARIA 2.7.1. If you have any questions, let us know. You can find the updates at http://robots.mobilerobots.com/wiki/ARIA and http://robots.mobilerobos.com/wiki/BaseArnl -- Reed Hedges Developer Software Support MobileRobots, Inc. From wu.xiaojun at gmail.com Wed Jun 10 05:13:40 2009 From: wu.xiaojun at gmail.com (XiaoJun Wu) Date: Wed, 10 Jun 2009 17:13:40 +0800 Subject: [Pioneer-users] ./demo issue Message-ID: <46fe77250906100213o774b2920x9274dd3662460a80@mail.gmail.com> hi, Just start trying the pioneer-3dx robot but can't get the ./demo work. The symptom is, when issueing the ./demo command from client PC, on robot user control panel, the RX led is flashing while the TX led has no response. Really appreciate your help. BTW, I am running the Aria demo under ubuntu 8.04; the client PC is connected with the robot via serial connection and a USB-Serial adapter is attached to one of the client PC's USB ports, and the port is enabled using modprobe command. Here is the screenshot from ubuntu command console --------------------------------------------------------------- xj at ce-desktop:/usr/local/Aria/examples$ ./demo -robotPort /dev/ttyUSB0 You may press escape to exit Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 No packet. Syncing 0 No packet. Trying to close possible old connection Syncing 0 No packet. Syncing 0 No packet. Robot may be connected but not open, trying to dislodge. Syncing 0 No packet. Robot may be connected but not open, trying to dislodge. Syncing 0 No packet. Could not connect, no robot responding. Failed to connect to robot. Could not connect to robot... exiting --------------------------------------------------------------- -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/pioneer-users/attachments/20090610/26b9bb9c/attachment.html From reed at mobilerobots.com Fri Jun 12 09:46:04 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Fri, 12 Jun 2009 09:46:04 -0400 Subject: [Pioneer-users] ./demo issue In-Reply-To: <46fe77250906100213o774b2920x9274dd3662460a80@mail.gmail.com> References: <46fe77250906100213o774b2920x9274dd3662460a80@mail.gmail.com> Message-ID: <4A325C1C.4070902@mobilerobots.com> Hello, Are you able to try other USB-serial connectors, or do a test on a computer that has an RS-232 serial port? Perhaps the USB converter isn't correctly passing the data through to the robot, or some settings of it are misconfigured (you can check computer interface and RS-232 settings with the setserial and stty commands). XiaoJun Wu wrote: > hi, > Just start trying the pioneer-3dx robot but can't get the ./demo work. > The symptom is, when issueing the ./demo command from client PC, on > robot user control panel, the RX led is flashing while the TX led has no > response. Really appreciate your help. > > BTW, I am running the Aria demo under ubuntu 8.04; the client PC is > connected with the robot via serial connection and a USB-Serial adapter > is attached to one of the client PC's USB ports, and the port is enabled > using modprobe command. > > Here is the screenshot from ubuntu command console > --------------------------------------------------------------- > xj at ce-desktop:/usr/local/Aria/examples$ ./demo -robotPort /dev/ttyUSB0 > You may press escape to exit > Could not connect to simulator, connecting to robot through serial port > /dev/ttyUSB0. > Syncing 0 > No packet. > Syncing 0 > No packet. > Trying to close possible old connection > Syncing 0 > No packet. > Syncing 0 > No packet. > Robot may be connected but not open, trying to dislodge. > Syncing 0 > No packet. > Robot may be connected but not open, trying to dislodge. > Syncing 0 > No packet. > Could not connect, no robot responding. > Failed to connect to robot. > Could not connect to robot... exiting > --------------------------------------------------------------- > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From ffl at aber.ac.uk Fri Jun 19 07:44:35 2009 From: ffl at aber.ac.uk (Fred Labrosse) Date: Fri, 19 Jun 2009 12:44:35 +0100 Subject: [Pioneer-users] More memory in our P2s Message-ID: <200906191244.36253.ffl@aber.ac.uk> Hi, We have a number of P2 (DXe and AT) all with 128M of RAM and we want to upgrade that to 256 (the max). We have tried a number of memory chips and either only got 128 recognised or got a kernel crash right at the beginning of the boot sequence. Anybody would have an exact specification for what memory will work in these computers (VSBC-8?)? Thanks, Fred From ericavery at epix.net Fri Jun 19 11:56:36 2009 From: ericavery at epix.net (ericavery at epix.net) Date: Fri, 19 Jun 2009 15:56:36 +0000 (UTC) Subject: [Pioneer-users] More memory in our P2s In-Reply-To: <200906191244.36253.ffl@aber.ac.uk> Message-ID: <1687598434.2871231245426996029.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Fred, >From the via manual (http://versalogic.com/Products/Manuals/MVSBC8r4.pdf) System RAM COMPATIBLE MEMORY MODULES The VSBC-8 will accept one 168-pin DIMM memory module with the following characteristics: ? Size 8 to 256 MB ? Voltage 3.3 Volt ? Error Detection Parity or Non-Parity ? Error Correction ECC or Non-ECC ? Type SDRAM, PC-100, PC-133 Note: Parity and ECC features are not supported in the BIOS. Hope this helps Eric ----- Original Message ----- From: "Fred Labrosse" To: pioneer-users at lists.mobilerobots.com Sent: Friday, June 19, 2009 7:44:35 AM GMT -05:00 US/Canada Eastern Subject: [Pioneer-users] More memory in our P2s Hi, We have a number of P2 (DXe and AT) all with 128M of RAM and we want to upgrade that to 256 (the max). We have tried a number of memory chips and either only got 128 recognised or got a kernel crash right at the beginning of the boot sequence. Anybody would have an exact specification for what memory will work in these computers (VSBC-8?)? Thanks, Fred _______________________________________________ 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 Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From wu.xiaojun at gmail.com Mon Jun 22 04:36:07 2009 From: wu.xiaojun at gmail.com (XiaoJun Wu) Date: Mon, 22 Jun 2009 16:36:07 +0800 Subject: [Pioneer-users] Arnl with Hokuyo URG-08/30 Message-ID: <46fe77250906220136y532b31cfl1294f13d63604bbf@mail.gmail.com> Now am facing the problem - need use Arnl laser mapping software with Hokuyo URG-08, URG-30 laser scanners. Understand from post review that the Aria 2.7.0 is now only applicable to Hokuyo URG-04 model which is using SCIP 1.1, while the 8 and 30 meter models are using SCIP 2.0. Previously was also advised by Brian Ewing that this work hasn't be established and pioneer users have to work it out by themselves. Any hint on how to amend in order to enable Arnl working with SCIP 2? BTW, a bit confused why in p3dx-sh.p file, there are so many sections for laser? e.g., Section Laser 1 till 9 Params... best regards Xiaojun Here also attached the result when trying the arnlServer command with -rp urg: ============================================================================= p3 at p3-laptop:/usr/local/Arnl/examples$ ./arnlServer -rp /dev/ttyUSB0 -laserType urg -lp /dev/ttyACM0 Could not connect to simulator, connecting to robot through serial port /dev/ttyUSB0. Syncing 0 Syncing 1 Syncing 2 Connected to robot. Name: NSF_3432 Type: Pioneer Subtype: p3dx-sh Loaded robot parameters from p3dx-sh.p ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type ArLaserConnector: Opened serial port /dev/ttyACM0 urg_1::blockingConnect: Missing information in version response ArLaserConnector::connectLasers: Could not connect urg_1, stopping Could not connect to all lasers... exiting Disconnecting from robot. -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/pioneer-users/attachments/20090622/a1f8c54c/attachment.html From ffl at aber.ac.uk Mon Jun 22 12:16:55 2009 From: ffl at aber.ac.uk (Fred Labrosse) Date: Mon, 22 Jun 2009 17:16:55 +0100 Subject: [Pioneer-users] More memory in our P2s In-Reply-To: <1687598434.2871231245426996029.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> References: <1687598434.2871231245426996029.JavaMail.root@cl05-host04.roch.ny.frontiernet.net> Message-ID: <200906221716.55766.ffl@aber.ac.uk> On Friday 19 June 2009 16:56:36 ericavery at epix.net wrote: > Fred, > > From the via manual (http://versalogic.com/Products/Manuals/MVSBC8r4.pdf) > > System RAM > COMPATIBLE MEMORY MODULES > The VSBC-8 will accept one 168-pin DIMM memory module with the following > characteristics: ? Size 8 to 256 MB > ? Voltage 3.3 Volt > ? Error Detection Parity or Non-Parity > ? Error Correction ECC or Non-ECC > ? Type SDRAM, PC-100, PC-133 > Note: Parity and ECC features are not supported in the BIOS. > > Hope this helps Unfortunately, no... We have just tried some kingston memory that has exactly these specs and when 256M are detected (the bios sometimes only detects 128M after some tinkering) the kernel panics. Are there any settings in the bios that need to be set? As far as I know, there is nothing to set in the kernel for that kind of memory (not really high memory, is it ;-) ). Fred From ffl at aber.ac.uk Mon Jun 22 12:19:25 2009 From: ffl at aber.ac.uk (Fred Labrosse) Date: Mon, 22 Jun 2009 17:19:25 +0100 Subject: [Pioneer-users] More memory in our P2s In-Reply-To: References: <200906191244.36253.ffl@aber.ac.uk> Message-ID: <200906221719.25760.ffl@aber.ac.uk> On Monday 22 June 2009 10:07:07 a Pioneer user wrote: > Fred > I had similar problems when I upgraded our VSBC 8 equipped robots. > They now have Crucial CT32M64S4D7E memory modules installed but I cannot > yet say these are 100% perfect, as I have had Linux system crashes with > other modules in the past (maybe a couple of times in 3 or 4 years) and > once it has happened the only apparent fix was to replace the memory > module. Can anybody confirm or otherwise that the brand is important? As I just said, Kingston memory didn't work. Anybody from MobileRobots? Cheers, Fred From jzoss at swri.org Mon Jun 22 16:40:19 2009 From: jzoss at swri.org (Zoss, Jeremy K.) Date: Mon, 22 Jun 2009 15:40:19 -0500 Subject: [Pioneer-users] Faster SIP update rate Message-ID: We have a P3AT with an onboard "COBRA" PC104 computer (1.6GHz). For some research work, we'd like to test a control algorithm at different update rates, ranging from 1Hz to 100Hz. With the default P3 config, SIP packets are only updated at 10Hz, so I was considering decreasing the ARCOS config parameter SIPcycle from 100ms to 10ms. Before I start messing with the SIPcycle parameter, I was hoping for some feedback if anyone has had experience with any issues related to changing this update rate. Any of the following info would be helpful: - What SIPcycle rates have you tried? - Did you need to update any other parameters (e.g. hostbaud)? - Did you experience any performance issues (e.g. dropped packets)? Any real-world experience feedback you can provide would be helpful. Otherwise, I figure we'll just experiment to see how low we can push SIPcycle without compromising motion performance. Thanks for your help! Jeremy Zoss Southwest Research Institute From lafary at mobilerobots.com Wed Jun 24 17:08:31 2009 From: lafary at mobilerobots.com (Matt LaFary) Date: Wed, 24 Jun 2009 17:08:31 -0400 Subject: [Pioneer-users] Arnl with Hokuyo URG-08/30 In-Reply-To: <46fe77250906220136y532b31cfl1294f13d63604bbf@mail.gmail.com> References: <46fe77250906220136y532b31cfl1294f13d63604bbf@mail.gmail.com> Message-ID: <4A4295CF.7060506@mobilerobots.com> An overview of adding support for the newer URG protocol: To get ARNL to work with another type of URG you need to take the ArUrg code from inside of Aria and copy and rename the source files into your own program. Then rename the class inside those source files. Then modify that copy of the code to talk to the URG that you have. Connecting the new laser, path 1: Then to work with the built in laser connector and you have to call Aria::laserAddCreator (in your program) with an what you want to call your new URG type, and provide it a function that will make one (see ArLaserCreatorHelper for an example) then in your .p file you'll need to change the LaserType to match what you gave to laserAddCreator. After all that, it should 'just work', but let me know if you have problems. Note that this method assumes that the newer URGs look like serial data over the USB (which is what I've been told, but I haven't tried it yet), if they require something opened differently than a serial port you may have to do some things to add a way to open those ports, which would be Aria::deviceConnectionAddCreator (and look at ArDeviceConnectionCreatorHelper for an example). At that point it might be easier to follow the second path for connecting the laser. Connecting the new laser, path 2: You could also just connect the laser yourself (instead of with ArLaserConnector) so using your own device connection type (if needed) and connecting it to the own port you want, then just add the sensor to the robot with ArRobot::addLaser and pass that into the constructors for ArLocalizationTask, ArPathPlanningTask, and ArServerHandlerMapping directly. You should probably give the path 1 a try first though, since that way you'll have a discrete bit of code you can add to any of our existing examples that should work and with this method you'd have to change the code for each of them. Laser sections: There's 9 laser sections just because they're autocreated and we sell some platforms with 2 or 3 lasers these days and it they are autocreated and it is easier just to put lots of them in so that we don't have to expand it later (since if I put 3, someone would add a 4th laser). Matt LaFary MobileRobots Inc XiaoJun Wu wrote: > Now am facing the problem - need use Arnl laser mapping software with > Hokuyo URG-08, URG-30 laser scanners. > > Understand from post review that the Aria 2.7.0 is now only applicable > to Hokuyo URG-04 model which is using SCIP 1.1, while the 8 and 30 meter > models are using SCIP 2.0. Previously was also advised by Brian Ewing > that this work hasn't be established and pioneer users have to work it > out by themselves. > > Any hint on how to amend in order to enable Arnl working with SCIP 2? > > BTW, a bit confused why in p3dx-sh.p file, there are so many sections > for laser? e.g., Section Laser 1 till 9 Params... > > best regards > Xiaojun > > Here also attached the result when trying the arnlServer command with > -rp urg: > ============================================================================= > p3 at p3-laptop:/usr/local/Arnl/examples$ ./arnlServer -rp /dev/ttyUSB0 > -laserType urg -lp /dev/ttyACM0 > Could not connect to simulator, connecting to robot through serial port > /dev/ttyUSB0. > Syncing 0 > Syncing 1 > Syncing 2 > Connected to robot. > Name: NSF_3432 > Type: Pioneer > Subtype: p3dx-sh > Loaded robot parameters from p3dx-sh.p > ArLaserConnector: There is a port given, but no port type given so using > the robot parameters port type > ArLaserConnector: Opened serial port /dev/ttyACM0 > urg_1::blockingConnect: Missing information in version response > ArLaserConnector::connectLasers: Could not connect urg_1, stopping > Could not connect to all lasers... exiting > > Disconnecting from robot. > > > ------------------------------------------------------------------------ > > _______________________________________________ > 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 > > > Visit http://robots.mobilerobots.com for information including documentation, FAQ, tips, manuals, and software, firmware and driver downloads. From g.ascolese at sssup.it Thu Jun 25 04:42:05 2009 From: g.ascolese at sssup.it (Gabriele Ascolese) Date: Thu, 25 Jun 2009 10:42:05 +0200 Subject: [Pioneer-users] SAV Server on Pioneer Message-ID: <4A43385D.2000903@sssup.it> Good morning i try to change capture size in SAV but the only configuration that works is videoSize medium (320x240) all the other configurations do not work.... if i set videoSize large (640x480) or videoSize postage (80x60) or videoSize small (160x120) I receive this error ****************************************************** VIDIOCMCAPTURE: Device or resource busy Can't queue buffer 0 If using bttv2 driver with v4l_compat module, try increasing capture size to 320x240 or higher. Could not open framegrabber ************************************************* Kernel 2.6.27-11-generic SAV SERVER version 0.9.2 Any helps to solve this problem ??? Thanks ! ------------------------------ Ascolese Gabriele System Administrator - Software Developer Centro Gustavo Stefanini - La Spezia Phone: +39. 0187.582110 http://www.centrogustavostefanini.it http://www.cgsrobotics.it INFORMATIVA SULLA PRIVACY Ai sensi del D.Lgs. n.196 del 30.6.2003, si precisa che le informazioni contenute in questo messaggio e nei suoi eventuali allegati sono riservate e per uso esclusivo del destinatario. Nessuno, all'infuori dello stesso, puo' copiare o distribuire il messaggio, o parte di esso, a terzi. Chiunque riceva questo messaggio per errore, e' pregato di distruggerlo e di informare il mittente. PRIVACY NOTICE According to the D.Lgs. n. 196, dated 30.6.2003, this document and its attachments are confidential and intended for the named adderessee(s) only. If you are not the intended recipient of this message, any use or dissemination of this email is prohibited. If you have received this document by mistake, please notify the sender and destroy immediately all physical and/or electronic copies. From reed at mobilerobots.com Mon Jun 29 09:16:20 2009 From: reed at mobilerobots.com (Reed Hedges) Date: Mon, 29 Jun 2009 09:16:20 -0400 Subject: [Pioneer-users] SAV Server on Pioneer In-Reply-To: <4A43385D.2000903@sssup.it> References: <4A43385D.2000903@sssup.it> Message-ID: <4A48BEA4.2040904@mobilerobots.com> Just based on this error message, it may only be possible to use 320x240; but what v4l modules are being used? Run 'lsmod' to see if it is using v4l_compat and bttv, or just the normal v4l modules. Reed > I receive this error > ****************************************************** > VIDIOCMCAPTURE: Device or resource busy > Can't queue buffer 0 > > If using bttv2 driver with v4l_compat module, try increasing capture > size to 320x240 or higher. > Could not open framegrabber > > ************************************************* > From redwar15 at eecs.utk.edu Tue Jun 30 16:28:32 2009 From: redwar15 at eecs.utk.edu (Richard Edwards) Date: Tue, 30 Jun 2009 16:28:32 -0400 Subject: [Pioneer-users] Imagenation PXC200 question Message-ID: <4A4A7570.6010208@eecs.utk.edu> Hi, I was wondering if anyone has been able to get this card working under ubuntu 8.04 or has any pointers regarding this card? Currently I am getting the following message from dmesg after loading the bttv module, [ 794.896659] bttv: driver version 0.9.17 loaded [ 794.896674] bttv: using 8 buffers with 2080k (520 pages) each for capture [ 794.896680] bttv: Host bridge needs ETBF enabled. [ 794.897861] bttv: Bt8xx card found (0). [ 794.897891] bttv0: Bt848 (rev 18) at 0000:00:09.0, irq: 11, latency: 64, mmio: 0x82000000 [ 794.898526] bttv0: using: Imagenation PXC200 [card=29,insmod option] [ 794.898548] bttv0: enabling ETBF (430FX/VP3 compatibilty) [ 794.898577] bttv0: gpio: en=00000000, out=00000000 in=00ffe3ff [init] [ 794.900115] Setting DAC reference voltage level ... [ 794.900818] Initialising 12C508 PIC chip ... [ 794.905845] I2C Write(0b) = 0 [ 794.905851] I2C Read () = 00 [ 794.905854] [ 794.907997] bttv0: i2c read 0x1f: error [ 794.908011] I2C Write(0d) = 0 [ 794.908013] I2C Read () = ffffffff [ 794.908016] [ 794.909914] bttv0: i2c read 0x1f: error [ 794.909924] I2C Write(0d) = 0 [ 794.909927] I2C Read () = ffffffff [ 794.909929] [ 794.912325] I2C Write(01) = 0 [ 794.912330] I2C Read () = 00 [ 794.912332] [ 794.915454] I2C Write(02) = 0 [ 794.915461] I2C Read () = 00 [ 794.915463] [ 794.917089] I2C Write(03) = 0 [ 794.917093] I2C Read () = 00 [ 794.917096] [ 794.918621] bttv0: i2c read 0x1f: error [ 794.918630] I2C Write(04) = 0 [ 794.918633] I2C Read () = ffffffff [ 794.918635] [ 794.922511] I2C Write(05) = 0 [ 794.922518] I2C Read () = 00 [ 794.922521] [ 794.924493] I2C Write(06) = 0 [ 794.924498] I2C Read () = 00 [ 794.924500] [ 794.926246] bttv0: i2c read 0x1f: error [ 794.926256] I2C Write(00) = 0 [ 794.926259] I2C Read () = ffffffff [ 794.926261] [ 794.926265] PXC200 Initialised. [ 794.926270] bttv0: tuner absent [ 794.927516] bttv0: registered device video0 [ 794.927843] bttv0: registered device vbi0 [ 794.929170] bttv0: PXC200_muxsel: not PXC200F rc:0 Thank You, Richard Edwards From hyacinth531 at 163.com Tue Jun 30 21:37:25 2009 From: hyacinth531 at 163.com (hyacinth531) Date: Wed, 1 Jul 2009 09:37:25 +0800 (CST) Subject: [Pioneer-users] How to change the scan frequency of guiServer Message-ID: <19022231.87181246412245596.JavaMail.coremail@bj163app139.163.com> Hi everyone when i use guiServer and MobileEyes to create .2d file,the robot scan the environment every certain distance traveled and degrees turned ,I want to know how to change these distance and degrees, thank you very much!!! -------------- next part -------------- An HTML attachment was scrubbed... URL: http://lists.mobilerobots.com/pipermail/pioneer-users/attachments/20090701/e20eeb71/attachment.html