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Demo will connect to the robot, displaying information about the connection and the robot such as Name
and Subtype.
Demo starts in teleoperation/drive mode. Use the arrow keys or robot joystick to drive the robot. Use the
space bar to stop.
Ensure there is adequate clearance (at least 5 meters) on all sides of the robot before driving. The robot
can move fast!
The robot's E-Stop button must be released, and motors enabled (E key) before driving.
Use other keys on the keyboard to switch to different modes. Press ? for a list of modes. For example,
laser mode (L key) connects to the laser and displays information read from it. Direct command mode (D
key) lets you send individual commands directly to the robot controller (See See Communication Packet
Protocol on page 117 for list of commands).
Press Control-C or Escape to exit.
ARNL Demo Server and MobileEyes
ARNL includes an example server which can be used with the MobileEyes remote graphical user
interface to observe and control the robot. You can use the source code of the example server to integrate
ARNL into your own software.
To use MobileEyes on your laptop or other computer, download and install MobileEyes from the CD or
from http://support.mobilerobots.com/wiki/MobileEyes.
Onboard Computer Running Linux:
1.
If using simulation, install MobileSim and ARIA from the CD or
http://support.mobilerobots.com/wiki/Software. Run MobileSim and select the "pioneer-lx" robot
type.
2.
If using the robot, log in to the onboard computer using ssh, or log in at the console and start a
terminal session. Log in as guest with password mobilerobots.
3.
Change to the Arnl examples directory with the following command:
cd /usr/local/Arnl/examples
4.
Run arnlServer with the following command:
./arnlServer
Onboard Computer Running Windows:
1.
If using simulation, install MobileSim and ARIA from the CD or from
http://support.mobilerobots.com/wiki/Software. Run MobileSim and select the "pioneer-lx" robot
type.
2.
If using the actual robot, log in to the onboard computer using Remote Desktop, or log in at the
console. Log in as Administrator with password mobilerobots.
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