Command Line Option Summary

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

(See ArRobotConnector for class documentation)

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

(See ArLaserConnector for class documentation)

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

(See ArPTZConnector for class documentation)

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

(See ArGPSConnector for class documentation)

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

(See ArCompassConnector for class documentation)

Compass options:
-compassType <robot|serialTCM>  Select compass device type (default: robot)
-compassPort <port> Serial port for "serialTCM" type compass. (default: /dev/ttyS3)

ArSonarConnector

(See ArSonarConnector for class documentation)

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.