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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2025 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 as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* 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 https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpTime.h>
#include <visp3/robot/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 EXIT_SUCCESS;
}
#else
/*!
\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)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
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 EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#endif
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