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