Robots In Motion - Omron Pioneer LX User Manual

Table of Contents
requirements and compilers, see the ARIA README.txt file. For details of the license, see the
ARIA LICENSE.txt file. For full reference documentation, see Aria-Reference.html or the contents of
ARIA's doc directory.
In addition to the ARIA library, MobileRobots provides additional development libraries, including the
ArNetworking framework for network programming over TCP and UDP, and the ARNL intelligent
navigation library. Useful tools for robot development also include the MobileSim simulator, the
MobileEyes user interface application, and the Mapper3 map editing tool. This software can be found on
the CD provided with the robot, and at http://support.mobilerobots.com/wiki/Software.
ARIA automatically handles all communication with the robot components and many accessory devices,
including but not limited to the laser rangefinder, the robot's sonar and bumper sensors, LCD display,
pan/tilt cameras and pan/tilt units, and more. To communicate with the robot, ARIA sends and receives
messages with the robot's embedded firmware. When using ARIA or other development software,
however, you do not need to implement this protocol directly. (See Communication Packet Protocol on
page 117 for a description of this protocol.)

Robots in Motion

When Pioneer LX receives a motion command, it accelerates or decelerates the robot according to
acceleration or deceleration parameters previously set until the platform either achieves the requested
speed (for velocity commands) or nears the requested movement distance (when performing MOVE,
HEAD and DHEAD commands). Rotation headings and translation setpoints are achieved by a
trapezoidal velocity function, which MARC recomputes based on motion commands received.
MARC automatically limits velocities, acceleration and deceleration to client-modifiable limits and
ultimately by absolute limits. These limits take effect on subsequent commands, not on the current
translation or rotation activity, and are reset when the client disconnects or the robot system is reset.
The orientation position commands (setHeading(), setDeltaHeading()) turn the robot with respect to its
internal dead-reckoned angle to an absolute heading (0-359 degrees), relative to its immediate heading, or
relative to its current heading setpoint (achieved or last commanded heading), respectively.
The STOP command is equivalent to requesting both translation and rotation velocities of 0; the robot
will decelerate to 0. The E-STOP command #55 overrides normal deceleration and abruptly stops the
robot in the shortest distance and time possible. Accordingly, the robot brakes to zero translational and
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