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.)

/****************************************************************************
 *
 * $Id: movePioneer.cpp 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Example that shows how to control a Pioneer mobile robot in ViSP.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <iostream>

#include <visp/vpConfig.h>
#include <visp/vpTime.h>
#include <visp/vpRobotPioneer.h>

#ifndef VISP_HAVE_PIONEER
int main()
{
  std::cout << "\nThis example requires Aria 3rd party library. You should install it.\n"
            << std::endl;
  return 0;
}

#else

int main(int argc, char **argv)
{
  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;
}

#endif