86 lines
2.9 KiB
Python
86 lines
2.9 KiB
Python
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"""
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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"""
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from AriaPy import *
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import sys
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# Wander around, avoiding obstacles, using some ArActions predefined in ARIA.
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Aria_init()
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parser = ArArgumentParser(sys.argv)
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parser.loadDefaultArguments()
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if not Aria_parseArgs():
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Aria_logOptions()
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Aria_exit(1)
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robot = ArRobot()
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conn = ArRobotConnector(parser, robot)
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if not conn.connectRobot():
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print "Could not connect to robot, exiting"
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Aria_exit(1)
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# Most robots have sonar:
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print "Creating sonar object..."
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sonar = ArSonarDevice()
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robot.addRangeDevice(sonar)
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# Some robots have laser rangefinders (enabled in robot's parameter .p file or
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# with -connectLaser command line argument):
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laserConn = ArLaserConnector(parser, robot, conn)
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if not laserConn.connectLasers():
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print "Warning: could not connect to laser(s)."
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# Add actions to ArRobot. While running the robot's action resolver will
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# determine motion commands by evaluating the actions in order from lowest
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# number to highest (so lower order actions' desired motion commands can
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# supercede higher)
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print "Adding actions..."
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print " 1. StallRecover"
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stallRecover = ArActionStallRecover()
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robot.addAction(stallRecover, 1)
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print " 2. AvoidFront"
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avoid = ArActionAvoidFront()
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robot.addAction(avoid, 2)
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print " 3. LimitFront"
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limitFront = ArActionLimiterForwards("limitFront", 300, 600, 250)
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robot.addAction(limitFront, 3)
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print " 4. LimitBack"
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limitBack = ArActionLimiterBackwards()
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robot.addAction(limitBack, 4)
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print " 5. ConstantVelocity"
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constVel = ArActionConstantVelocity()
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robot.addAction(constVel, 5)
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# Run robot thread here in the main thread.
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# 1 (=true) makes the function exit if the robot connection goes away unexpectedly.
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print "Running robot..."
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robot.enableMotors()
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robot.run(1)
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print "goodbye."
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Aria_exit(0)
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