Name

AriaRTC

Brief

Mobile Robots ARIA library avialble robot RT-component

Description

MobileRobot ARIA library RT-component. Basically, Mobile Robot controller, but the library also available to control laser sensors. To use this RTC, ARIA library must be installed manually (http://robots.mobilerobots.com/wiki/ARIA)

License

GPLv3

Image

Language

C++

URL

https://github.com/sugarsweetrobotics/AriaRTC.git

Platform

[‘win’, ‘ubuntu’]

Data In Ports

Name	Type	Unit	Description
targetVelocity	RTC::TimedVelocity2D		Target Velocity of Mobile Robot (vx, vy, vz) in robot coordinate
poseUpdate	RTC::TimedPose2D		If you want to update the internal value of current pose of mobile robot (in global coordinates), put data to this port.

Data Out Ports

Name	Type	Unit	Description
currentVelocity	RTC::TimedVelocity2D		Current Velocity of Mobile Robot (In robot coordinate)
currentPose	RTC::TimedPose2D	meter, radian	Current Pose estimated with Robot (usually odometry) in global coordinates.
range	RTC::RangeData		Ranger Sensor if robot is implemented
bumper	RTC::TimedBooleanSeq		Bump Sensors if implemented. The order of sensor is same as the robot itself. Check the order with demo.exe program. If true, collide. If false, not collide. With the configuration bump policy will change the data sending policy. Please see it.
sonar	RTC::TimedDoubleSeq	meter	Sonar Output (distance of each sensor)

Service Ports

Configurations

Name	Type	Default	Unit	Description
debug	int	0
robotPort	string	COM1		Serial Port of Robot.
robotPortType	string	serial		Type of Robot Connection. tcp or serial is available
robotTcpPort	string	8101		TCP Port number of Robot Connection. If robotPortType is tcp, this value will be used.
robotTcpAddress	string	localhost		Tcp address of robot to be connected. If robotPortType is tcp, this will be used.
laserPort	string	COM2		Serial port number of laser sensor. If laserPortType is serial, this will be used.
laserPortType	string	serial		Connection type of laser sensor. tcp or serial is available.
laserType	string	none		Laser sensor type. Available value is none (for no sensor), urg2.0 (Hokuyo URG 04LX SCIP2.0 protocol), lms2xx (SICK LMS200 series), lms1xx (SICK LMS100 series).
laserTcpPort	string	8102		If laserPortType is tcp, robot and laser is remotely connected. This value defines the tcp port of remote laser.
bumperSendingPolicy	string	event		Bumper data send policy. If event, the data is sent when the bumper state is changed. If continuous, every on_execute time the data is sent.
commandTimeout	int	3		The interval of timeout. If the targetVelocity is not sent for this interval, the robot rtc will go to error state and stop maneuvour.
odometryUpdateInterval	double	0.5	sec	This value indicates the maximum interval of odometry (currentPose) output. This RTC measures the current position of this robot, but if no difference to the previous position is seen, this robot do not output the value. If this value is set, RTC output the position if the output is resumed until this interval. If this value is negative, RTC do not output until the difference is seen.
initial_pose_x	double	0.0	meter	Initial Pose (x)
initial_pose_y	double	0.0	meter	Initial Pose (y)
initial_pose_z	double	0.0	meter	Initial Pose (z)

How To Build

Linux
  $ git clone https://github.com/sugarsweetrobotics/AriaRTC.git
  $ cd AriaRTC
  $ mkdir build
  $ cd build
  $ cmake ../
  $ make
Windows
  Download ZIP file from the website, and use CMake to generate VC2010 project.
  Then, open the project and build it.

How To Build in wasanbon

  $ wasanbon-admin.py package create AriaRTC_test_project # You can also use other preinstalled package 
  $ wasanbon-cd AriaRTC_test_project
  $ ./mgr.py rtc clone AriaRTC
  $ ./mgr.py rtc build AriaRTC
  $ ./mgr.py rtc run AriaRTC # To Run RTC

Profile Status

Not available

Build Status

Build in Windows

Not available

Build in OSX

Not available

Build in Linux

Not available

Copyright

SUGAR SWEET ROBOTICS