Programming Mobile Robots with Aria and Player: A Guide to by Amanda Whitbrook

By Amanda Whitbrook

Programming cellular Robots with Aria and participant offers a advisor to making object-oriented C++ courses for robots utilizing the participant and Aria APIs inside a Linux atmosphere. The ebook is supported all through with examples, diagrams, pattern courses, and configuration documents. MobileRobot's Pioneers are used as autos during the ebook, yet many of the concepts and courses which are confirmed for participant are acceptable to the opposite makes and versions that the API helps. additionally, the Aria part is additionally acceptable for different robots made via MobileRobots. The publication discusses the right way to set up many of the items of software program wanted and in addition describes the way to: configure robots; keep watch over robots remotely; software every one person sensor and actuator; and manage and keep watch over robots. "Programming cellular Robots with Aria and Player" serves as an entire textual content for undergraduate and postgraduate robotics programming modules, and can be a useful reference resource for college students, academics and researchers.

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3. Fig. 2. Then indicate the maximum number of blobs you want to track on that channel by clicking on the forward arrow in the text box marked “Blobs tracked”, or just type the number in; the maximum is 10 for each channel. Colours from the image are added to the channel by selecting pixels or groups of pixels from it. This is done by clicking the “+” button from the “training tools” frame and then clicking and dragging the mouse to create a rectangle that selects the part of the image you want to include.

An example using an ArRobot object called “robot” is shown below. checkRangeDevicesCurrentPolar(-45,45); Fig. 2 Laser readings and their positions on the robot (181 readings) If raw laser readings are required then the procedure is slightly more complex than for sonar sensors as it involves using lists. The method to call is the getRawReadings() method of the ArSick class. This returns a pointer to a list of ArSensorReading object pointers. You will need to loop through this list to obtain the values and angles, so you will also need to declare an iterator object for the list as well as the list itself.

This sets a number of options and by default it has the following settings: ; ACTS preference file. Lines starting with ; are comments [ACTS] ImageFilename ConfigurationFilename MinimumRunLengthWidth 5 ImageWidth 160 ImageHeight 120 SocketAddr 5001 FrameGrabberType v4l FrameGrabberDev /dev/video0 FramesPerSec 30 ShowGraphics true PALCamera false PXCGrabber false InvertImage false FrameGrabberChannel 1 44 3 Other MobileRobots Inc. Resources The file is a plain text file and can be readily edited.

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