Pioneer 2TM, 3TM manual Demo Startup Options, Ipthru

ActivMedia Robotics

needed), by starting and testing the robot, and by connecting the client PC with the AROS controller via a serial link. Now it is time to connect the ARIA demonstration program with your robot.

If you are using radio modems or the new Low-Speed Ethernet-to-serial device to communicate wirelessly from a desktop PC to the robot controller, now is a good time to power the units. The RADIO power switch for the integrated radio is on the User Control Panel. The other radio modem should be attached to your PC and powered via the module that came with the unit. If using the Ethernet-to-serial radio, be sure you have a connection with a local access point, or have a peer-to-peer radio Ethernet installed in your client computer.

Windows users may select the ARIA demo from the Start menu, in the ActivMedia Robotics program group. Otherwise, start if from the ARIA bin\ directory.

Linux users will find the compiled demo in /usr/local/Aria/bin/ or in examples/. Start it:

% ./demo

Demo Startup Options

Table 1. ARIA demo command line arguments

--remoteHost <Host Name or IP>	Connect with robot through a remote
	host over the network instead of a
	serial	port;	requires	special
	hardware	or	IPTHRU	software
	mediation.
--robotPort <Serial Port>	Connect with robot through specified
	serial port name; COM3, for example.
--remoteRobotTcpPort <Number>	Remote TCP host-to-robot connection
	port number; default is 8080.
--laserPort <Serial Port>	Connect with laser rangefinder
	through the specified serial port
	name; /dev/ttyS3, for example.
--remoteLaserTcpPort <Number>	Remote TCP host-to-laser connection
	port number; default is 8081.

By default, the ARIA demo program connects with the robot through the serial port COM1 under Windows or /dev/ttyS0 under Linux. And, by default, the demo connects with the laser rangefinder accessory through serial port COM3 or /dev/ttyS2. To change those connection options, either modify the ARIA source code (examples/demo.cpp and related files in src/) and recompile the demo application, or use a startup argument on the command line. See Table 1.

For example, from the Windows Start:Run dialog, choose Browse… and select the ARIA demo program: C:\Program Files\ActivMedia Robotics\ARIA\bin\demo.exe. Then, type a command line argument at the end of the text in the Run dialog as described in Table 1. To connect through the new Ethernet-to-serial radio device over the wireless network, for example, try the command:

C:\Program Files\ActivMedia Robotics\ARIA\bin\demo.exe --remoteHost 192.168.1.32

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