/*!
\example movePioneer.cpp example showing how to connect and send
direct basic motion commands to a Pioneer mobile robot.
WARNING: this program does no sensing or avoiding of obstacles, the robot WILL
collide with any objects in the way! Make sure the robot has about 2-3
meters of free space around it before starting the program.
This program will work either with the MobileSim simulator or on a real
robot's onboard computer. (Or use -remoteHost to connect to a wireless
ethernet-serial bridge.)
*/
int main(int argc, char **argv)
{
try {
std::cout << "\nWARNING: this program does no sensing or avoiding of obstacles, \n"
"the robot WILL collide with any objects in the way! Make sure the \n"
"robot has approximately 3 meters of free space on all sides.\n"
<< std::endl;
vpRobotPioneer robot;
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
// ArRobotConnector connects to the robot, get some initial data from it such as type and name,
// and then loads parameter files for this robot.
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs())
{
Aria::logOptions();
Aria::shutdown();
return false;
}
std::cout << "Robot connected" << std::endl;
robot.useSonar(false); // disable the sonar device usage
// Robot velocities
vpColVector v(2), v_mes(2);
for (int i=0; i < 100; i++)
{
double t = vpTime::measureTimeMs();
v = 0;
v[0] = i/1000.; // Translational velocity in m/s
//v[1] = vpMath::rad(i/5.); // Rotational velocity in rad/sec
robot.setVelocity(vpRobot::REFERENCE_FRAME, v);
v_mes = robot.getVelocity(vpRobot::REFERENCE_FRAME);
std::cout << "Trans. vel= " << v_mes[0] << " m/s, Rot. vel=" << vpMath::deg(v_mes[1]) << " deg/s" << std::endl;
v_mes = robot.getVelocity(vpRobot::ARTICULAR_FRAME);
std::cout << "Left wheel vel= " << v_mes[0] << " m/s, Right wheel vel=" << v_mes[1] << " m/s" << std::endl;
std::cout << "Battery=" << robot.getBatteryVoltage() << std::endl;
vpTime::wait(t, 40);
}
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot.lock();
robot.stop();
robot.unlock();
ArUtil::sleep(1000);
robot.lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
robot.unlock();
std::cout << "Ending robot thread..." << std::endl;
robot.stopRunning();
// wait for the thread to stop
robot.waitForRunExit();
// exit
ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
/*!
\example sonarPioneerReader.cpp example showing how to connect and read
sonar data from a Pioneer mobile robot->
*/
int main(int argc, char **argv)
{
try {
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
robot = new vpRobotPioneer;
// ArRobotConnector connects to the robot, get some initial data from it such as type and name,
// and then loads parameter files for this robot.
ArRobotConnector robotConnector(&parser, robot);
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "Could not connect to the robot");
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs())
{
Aria::logOptions();
Aria::shutdown();
return false;
}
std::cout << "Robot connected" << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
// Create a display to show sensor data
if (isInitialized == false)
{
I.resize((unsigned int)half_size*2, (unsigned int)half_size*2);
I = 255;
#if defined(VISP_HAVE_X11)
d = new vpDisplayX;
#elif defined (VISP_HAVE_GDI)
d = new vpDisplayGDI;
#endif
d->init(I, -1, -1, "Sonar range data");
isInitialized = true;
}
#endif
// Activates the sonar
ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
robot->addRangeDevice(&sonar);
robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
robot->useSonar(true); // activates the sonar device usage
// Robot velocities
vpColVector v_mes(2);
for (int i=0; i < 1000; i++)
{
double t = vpTime::measureTimeMs();
v_mes = robot->getVelocity(vpRobot::REFERENCE_FRAME);
std::cout << "Trans. vel= " << v_mes[0] << " m/s, Rot. vel=" << vpMath::deg(v_mes[1]) << " deg/s" << std::endl;
v_mes = robot->getVelocity(vpRobot::ARTICULAR_FRAME);
std::cout << "Left wheel vel= " << v_mes[0] << " m/s, Right wheel vel=" << v_mes[1] << " m/s" << std::endl;
std::cout << "Battery=" << robot->getBatteryVoltage() << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized) {
// A mouse click to exit
// Before exiting save the last sonar image
if (vpDisplay::getClick(I, false) == true) {
{
// Set the default output path
std::string opath;
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
opath = "/tmp";
#elif defined(_WIN32)
opath = "C:\\temp";
#endif
std::string username = vpIoTools::getUserName();
// Append to the output path string, the login name of the user
opath = vpIoTools::createFilePath(opath, username);
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(opath) == false) {
try {
// Create the dirname
vpIoTools::makeDirectory(opath);
}
catch (...) {
std::cerr << std::endl
<< "ERROR:" << std::endl;
std::cerr << " Cannot create " << opath << std::endl;
exit(-1);
}
}
std::string filename = opath + "/sonar.png";
vpImage<vpRGBa> C;
vpDisplay::getImage(I, C);
vpImageIo::write(C, filename);
}
break;
}
}
#endif
vpTime::wait(t, 40);
}
ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
robot->lock();
robot->stop();
robot->unlock();
ArUtil::sleep(1000);
robot->lock();
ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
robot->getX(), robot->getY(), robot->getTh(), robot->getVel(), robot->getRotVel(), robot->getBatteryVoltage());
robot->unlock();
std::cout << "Ending robot thread..." << std::endl;
robot->stopRunning();
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized) {
if (d != NULL)
delete d;
}
#endif
// wait for the thread to stop
robot->waitForRunExit();
delete robot;
// exit
ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
return 0;
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
