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/* A simple Java program that demonstrates using a SICK laser rangefinder
* as well as sonar on the robot, and using a predefined ArAction from
* the ARIA library to avoid obstacles.
*
* NOTE you currently must change the call to configureShort() below if
* you are using the simulator. This is a bug in the Java wrapper.
*/
import com.mobilerobots.Aria.*;
public class laserWander {
static {
try {
System.loadLibrary("AriaJava");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library libAriaJava) failed to load. Make sure that its directory is in your library path; See javaExamples/README.txt and the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" + e);
System.exit(1);
}
}
public static void main(String argv[]) {
System.out.println("Starting Java Laser Example");
Aria.init(Aria.SigHandleMethod.SIGHANDLE_THREAD, true);
// Main robot object
ArRobot robot = new ArRobot("robot1", true, true, true);
// Range device
ArSick laser = new ArSick();
ArSonarDevice sonar = new ArSonarDevice();
robot.addRangeDevice(sonar);
robot.addRangeDevice(laser);
// Connect to robot
ArSimpleConnector conn = new ArSimpleConnector(argv);
if(!Aria.parseArgs())
{
System.err.println("Error parsing arguments (defaults or command line). Exiting.");
Aria.logOptions();
System.exit(1);
}
if (!conn.connectRobot(robot))
{
System.err.println("Could not connect to robot, exiting.\n");
System.exit(1);
}
// Configure and connect to laser. The first argument determines whether
// to use simulated laser connection over the TCP port, or to try to connect
// to a real SICK on the serial port.
conn.setupLaser(laser);
//laser.configureShort(false /* Use Simulator? */, ArSick.BaudRate.BAUD38400, ArSick.Degrees.DEGREES180, ArSick.Increment.INCREMENT_ONE);
laser.runAsync();
if(!laser.blockingConnect())
{
System.err.println("Could not connect to a laser, it won't be used.");
}
else
{
}
// Add actions
ArActionBumpers bumpers = new ArActionBumpers();
ArActionLimiterForwards limiter = new ArActionLimiterForwards("speed limiter", 300, 600, 250, 1.1);
ArActionTurn turn = new ArActionTurn();
ArActionConstantVelocity constantVel = new ArActionConstantVelocity("constant velocity", 400);
robot.addAction(bumpers, 75);
robot.addAction(limiter, 49);
robot.addAction(turn, 30);
robot.addAction(constantVel, 20);
// Let program run forever until cancelled
System.out.println("Wandering...");
robot.enableMotors();
robot.run(true);
System.out.println("Robot disconnected. Shutting down and exiting.");
Aria.exit(0);
}
}
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