371 lines
12 KiB
Plaintext
371 lines
12 KiB
Plaintext
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ARIA 2.8.0
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Summary of command line options
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Some classes in ARIA and ArNetworking check a program's run time options to
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specify parameters and options. These options are used to configure run time
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accessory device parameters (ports, speeds, etc.) used by ARIA; host names,
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port numbers, etc. used by ArNetworking; and various other run time options.
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Options may be given as program arguments on the command line, or globally
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saved as defaults in the file /etc/Aria.args if on Linux, or in the ARIAARGS
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environment variable. Arguments given on the command line may override some
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internal defaults or values read from the robot parameter files.
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Note, an option will be available only in programs that instantiate an
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object of the class that uses it. Some programs may also check for
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program-specific command line options.
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Use the special "-help" command line option to cause a program to
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print out its available options.
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A list of options used by each class follows.
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ArRobotConnector
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----------------
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Options for ArRobotConnector (see docs for more details):
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Robot options:
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-remoteHost <remoteHostNameOrIP>
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-rh <remoteHostNameOrIP>
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-robotPort <robotSerialPort>
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-rp <robotSerialPort>
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-robotBaud <baud>
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-rb <baud>
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-remoteRobotTcpPort <remoteRobotTcpPort>
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-rrtp <remoteRobotTcpPort>
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-remoteIsSim
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-ris
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-remoteIsNotSim
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-rins
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-robotLogPacketsReceived
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-rlpr
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-robotLogPacketsSent
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-rlps
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-robotLogMovementReceived
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-rlmr
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-robotLogMovementSent
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-rlms
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-robotLogVelocitiesReceived
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-rlvr
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-robotLogActions
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-rla
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ArLaserConnector
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----------------
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Laser types and options may also be set in the robot parameter file. See the
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ARIA reference documentation for details.
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If a program supports multiple lasers, then options for additional lasers
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after the first are given by appending the laser number (e.g. -laserType2)
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To enable use of a laser, choose its type with the -laserType<N> options
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(e.g.: -laserType lms2xx -laserType2 urg2.0)
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The default laser type for the primary laser (laser 1) is specified in the
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robot type parameter file in the ARIA "params" directory. For many robots
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it is "lms2xx", the SICK LMS200. For some it is "lms1xx", for the SICK
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LMS100 or LMS111.
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Instruct a program to connect to a laser using the -connectLaser<N> option
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or by setting LaserAutoConnect to true in the robot's parameter file.
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If a program requires use of a laser it usually always attempts to connect to
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the primary laser, however.
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The index number is optional in any options for the primary laser; i.e. 1 is
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assumed if the index number is omitted.
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For laser type "lms2xx" (SICK LMS-200):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 32000
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-laserDegrees <100|180>
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-ld <100|180>
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-laserIncrement <half|one>
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-li <half|one>
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-laserUnits <1mm|1cm|10cm>
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-lu <1mm|1cm|10cm>
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-laserReflectorBits <1ref|2ref|3ref>
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-lrb <1ref|2ref|3ref>
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserStartingBaud <9600|19200|38400>
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-lsb <9600|19200|38400>
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-laserAutoBaud <9600|19200|38400>
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-lab <9600|19200|38400>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "lms1xx" (SICK LMS-100, LMS-111, etc.):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 20000
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -135 and 135
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between -135 and 135
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-laserIncrement <half|quarter>
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-li <half|quarter>
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-laserReflectorBits <none|8bits>
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-lrb <none|8bits>
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "urg2.0" (URG with SCIP 2.0):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 262144
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -180 and 180
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between -180 and 180
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-laserIncrementByDegrees <incrementByDegrees>
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-libd <incrementByDegrees>
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<incrementByDegrees> is a double between 0 and 180
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-laserStartingBaud <0|019200|057600|115200|250000|500000|750000>
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-lsb <0|019200|057600|115200|250000|500000|750000>
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-laserAutoBaud <0|019200|057600|115200|250000|500000|750000>
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-lab <0|019200|057600|115200|250000|500000|750000>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "urg" (URG with old SCIP 1.0):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 4095
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -135 and 135
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between -135 and 135
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-laserIncrementByDegrees <incrementByDegrees>
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-libd <incrementByDegrees>
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<incrementByDegrees> is a double between 0 and 135
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-laserStartingBaud <019200|057600|115200|250000|500000|750000>
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-lsb <019200|057600|115200|250000|500000|750000>
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-laserAutoBaud <019200|057600|115200|250000|500000|750000>
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-lab <019200|057600|115200|250000|500000|750000>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "lms5XX" (SICK LMS-500):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 20000
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-laserIncrement <half|one|quarter>
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-li <half|one|quarter>
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-laserReflectorBits <none|8bits>
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-lrb <none|8bits>
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "sZseries" (Keyence SZ):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 16382
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -135 and -135
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between 135 and 135
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-laserIncrementByDegrees <incrementByDegrees>
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-libd <incrementByDegrees>
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<incrementByDegrees> is a double between 0.5 and 0.5
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserStartingBaud <9600|19200|38400|57600|115200|230400|460800>
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-lsb <9600|19200|38400|57600|115200|230400|460800>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "s3series" (SICK S-300, S-3000, etc.):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 20000
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -135 and -135
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between 135 and 135
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-laserIncrement <half>
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-li <half>
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserStartingBaud <9600|19200|38400|57600|115200|230400|460800>
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-lsb <9600|19200|38400|57600|115200|230400|460800>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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For laser type "tim3XX" (SICK TiM300):
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-laserPort <laserPort>
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-lp <laserPort>
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-laserPortType <serial|serial422|tcp>
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-lpt <serial|serial422|tcp>
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-remoteLaserTcpPort <remoteLaserTcpPort>
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-rltp <remoteLaserTcpPort>
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-laserFlipped <true|false>
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-lf <true|false>
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-laserMaxRange <maxRange>
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-lmr <maxRange>
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<maxRange> is an unsigned int less than 20000
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-laserDegreesStart <startAngle>
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-lds <startAngle>
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<startAngle> is a double between -135 and 135
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-laserDegreesEnd <endAngle>
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-lde <endAngle>
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<endAngle> is a double between -135 and 135
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-laserIncrement <half|quarter|three>
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-li <half|quarter|three>
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-laserReflectorBits <none|8bits>
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-lrb <none|8bits>
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-laserPowerControlled <true|false>
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-lpc <true|false>
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-laserStartingBaud <115200>
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-lsb <115200>
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-laserAdditionalIgnoreReadings <readings>
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-lair <readings>
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<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
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ArPTZConnector
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--------------
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Common PTU and Camera PTZ options:
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-ptzType <type> Select PTZ/PTU type. Required. Available types are:
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dpptu
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rvision
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sony
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vcc
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vcc4
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vcc50i
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-ptzInverted <true|false> If true, reverse tilt and pan axes for cameras mounted upside down.
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Only one of the following sets of connection parameters may be given:
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For computer serial port connections:
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-ptzSerialPort <port> Serial port name.
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For Pioneer robot auxilliary serial port connections:
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-ptzRobotAuxSerialPort <1|2|3> Use specified Pioneer robot auxilliary serial port.
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For network connections:
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-ptzAddress <address> Network address or hostname for network connection.
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-ptzTcpPort <port> TCP port number for network connections.
|
||
|
|
|
||
|
|
Parameters for multiple cameras/units may be given like: -ptz1Type, -ptz2Type, -ptz3Type, etc.
|
||
|
|
Some PTZ/PTU types may accept additional type-specific options. Refer to option documentation text specific to those types.
|
||
|
|
|
||
|
|
ArGPSConnector
|
||
|
|
--------------
|
||
|
|
GPS options:
|
||
|
|
-gpsType <standard|novatel|novatelspan|trimble|sim> Select GPS device type (default: standard)
|
||
|
|
-gpsPort <gpsSerialPort> Use the given serial port (default: /dev/ttyS1)
|
||
|
|
-gpsBaud <gpsSerialBaudRate> Use the given serial Baud rate (default: 9600)
|
||
|
|
-remoteGpsTcpHost <host> Use a TCP connection instead of serial, and connect to remote host <host>
|
||
|
|
-remoteGpsTcpPort <host> Use the given port number for TCP connection, if using TCP. (default 8103)
|
||
|
|
|
||
|
|
ArCompassConnector
|
||
|
|
------------------
|
||
|
|
Compass options:
|
||
|
|
-compassType <robot|serialTCM> Select compass device type (default: robot)
|
||
|
|
-compassPort <port> Serial port for "serialTCM" type compass. (default: /dev/ttyS3)
|
||
|
|
|
||
|
|
ArSonarConnector
|
||
|
|
----------------
|
||
|
|
Options for ArSonarConnector:
|
||
|
|
-sonarLogPacketsReceived
|
||
|
|
-slpr
|
||
|
|
-sonarLogPacketsSent
|
||
|
|
-slps
|
||
|
|
|
||
|
|
Options shown are for currently set up sonars. Activate sonars with -sonarType<N> option
|
||
|
|
to see options for that sonar (e.g. "-help -sonarType1 sonarMTX").
|
||
|
|
Valid sonar types are: mtx
|
||
|
|
|
||
|
|
See docs for details.
|
||
|
|
|
||
|
|
|