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3.
Double click the arnlServer icon on the desktop to run arnlServer, or run it from the Start menu
(All Programs -> MobileRobots -> ARNL-> arnlServer).
4.
Or, to run it from a command prompt:
1.
Open a command prompt (Start->All Programs->Accessories->Command Prompt)
2.
Change to the ARNL programs directory with the following command:
Files\MobileRobots\ARNL\bin"
3.
Run demo with the following command:
The server will connect to the robot and other devices, displaying information about the connection and
the robot such as Name and Subtype. When it finishes connecting to the robot, laser, and other
configured devices, it will indicate that it has opened a server port for remote connections.
5.
Next, run MobileEyes on your laptop.
6.
For Robot Server, enter the address of the onboard computer, e.g. 10.0.125.32 (no user name or
password are necessary, leave these fields empty) and click Connect.
MobileEyes will connect to the server. The robot is represented as a red oval. Readings from the laser
rangefinder are represented by dots. Data about the robot (position, velocity, debugging information) are
displayed in the Details windows, to open these enable Details and Custom Details in the View menu.
Battery level and other indicators are shown in the status bar at the bottom of the MobileEyes window.
To navigate autonomously, the robot requires a map, and initialization of ARNL. Refer to the ARNL
introduction for mapping instructions:
introduction.pdf
Quick reference instructions on creating maps for ARNL is available in the ARNL docs directory
(Mapping.txt).
Once a map is loaded into arnlServer, use the Localize to Point button in MobileEyes to manually
perform the initial localization. Once localized, ARNL is ready to navigate autonomously to goals and
points.
Before ARNL is initialized, it is in a "Lost" state. When lost, you cannot drive the robot in Safe Drive
Mode. To disable unsafe drive mode, click the Safe Drive button in the toolbar in MobileEyes. You can
then use the drive controls in MobileEyes to drive the robot, however, no checking for collisions using the
laser rangefinder is performed when in unsafe drive mode!
WARNING: NO COLLISION DETECTION is performed using sensing when in Unsafe drive mode.
Ensure there is adequate clearance (at least 5 meters) on all sides of the robot before driving. The robot
moves fast!
The robot's E-Stop button must be released and motors enabled before it can drive.
Press Control-C to exit from arnlServer.
Note, if the remote connection to the robot is closed, then arnlServer will automatically quit as well. For
information about running arnlServer or other programs in the background, rather than attached to a
remote connection terminal in Linux, see
http://support.mobilerobots.com/wiki/Running_A_Linux_Program_In_The_Background.
Page 40 of 134
.\arnlServer.exe
http://support.mobilerobots.com/docs/all_docs/ARNL-
cd "\Program
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