Aria  2.8.0

General purpose testing and demo program, using ArMode classes to provide keyboard control of various robot functions.demo uses ArMode subclasses from ARIA. These modes provide keyboard control of various aspects and accessories of the robot, and can be re-used in your programs if you wish. The ArMode classes are defined in ArModes.cpp.

"demo" is a useful program for testing out the operation of the robot for diagnostic or demonstration purposes. Other example programs focus on individual areas.

Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
#include "Aria.h"
int main(int argc, char** argv)
// Initialize some global data
// If you want ArLog to print "Verbose" level messages uncomment this:
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// This object parses program options from the command line
ArArgumentParser parser(&argc, argv);
// Load some default values for command line arguments from /etc/Aria.args
// (Linux) or the ARIAARGS environment variable.
// Central object that is an interface to the robot and its integrated
// devices, and which manages control of the robot by the rest of the program.
ArRobot robot;
// Object that connects to the robot or simulator using program options
ArRobotConnector robotConnector(&parser, &robot);
// If the robot has an Analog Gyro, this object will activate it, and
// if the robot does not automatically use the gyro to correct heading,
// this object reads data from it and corrects the pose in ArRobot
ArAnalogGyro gyro(&robot);
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
if (!robotConnector.connectRobot())
// Error connecting:
// if the user gave the -help argumentp, then just print out what happened,
// and continue so options can be displayed later.
if (!parser.checkHelpAndWarnUnparsed())
ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything");
// otherwise abort
ArLog::log(ArLog::Terse, "Error, could not connect to robot.");
ArLog::log(ArLog::Terse, "Internal error: robot connector succeeded but ArRobot::isConnected() is false!");
// Connector for laser rangefinders
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Connector for compasses
ArCompassConnector compassConnector(&parser);
// Parse the command line options. Fail and print the help message if the parsing fails
// or if the help was requested with the -help option
return 1;
// Used to access and process sonar range data
ArSonarDevice sonarDev;
// Used to perform actions when keyboard keys are pressed
ArKeyHandler keyHandler;
// ArRobot contains an exit action for the Escape key. It also
// stores a pointer to the keyhandler so that other parts of the program can
// use the same keyhandler.
printf("You may press escape to exit\n");
// Attach sonarDev to the robot so it gets data from it.
// Start the robot task loop running in a new background thread. The 'true' argument means if it loses
// connection the task loop stops and the thread exits.
// Connect to the laser(s) if lasers were configured in this robot's parameter
// file or on the command line, and run laser processing thread if applicable
// for that laser class. For the purposes of this demo, add all
// possible lasers to ArRobot's list rather than just the ones that were
// connected by this call so when you enter laser mode, you
// can then interactively choose which laser to use from that list of all
// lasers mentioned in robot parameters and on command line. Normally,
// only connected lasers are put in ArRobot's list.
if (!laserConnector.connectLasers(
false, // continue after connection failures
false, // add only connected lasers to ArRobot
true // add all lasers to ArRobot
printf("Could not connect to lasers... exiting\n");
/* not needed, robot connector will do it by default
if (!sonarConnector.connectSonars(
false, // continue after connection failures
false, // add only connected lasers to ArRobot
true // add all lasers to ArRobot
printf("Could not connect to sonars... exiting\n");
// Create and connect to the compass if the robot has one.
ArTCM2 *compass = compassConnector.create(&robot);
if(compass && !compass->blockingConnect()) {
compass = NULL;
// Sleep for a second so some messages from the initial responses
// from robots and cameras and such can catch up
// We need to lock the robot since we'll be setting up these modes
// while the robot task loop thread is already running, and they
// need to access some shared data in ArRobot.
// now add all the modes for this demo
// these classes are defined in ArModes.cpp in ARIA's source code.
new ArModeGripper(&robot, "gripper", 'g', 'G');
ArLog::log(ArLog::Normal, "Robot does not indicate that it has a gripper.");
ArModeActs actsMode(&robot, "acts", 'a', 'A');
ArModeTCM2 tcm2(&robot, "tcm2", 'm', 'M', compass);
ArModeIO io(&robot, "io", 'i', 'I');
ArModeConfig cfg(&robot, "report robot config", 'o' , 'O');
ArModeCommand command(&robot, "command", 'd', 'D');
ArModeCamera camera(&robot, "camera", 'c', 'C');
ArModePosition position(&robot, "position", 'p', 'P', &gyro);
ArModeSonar sonar(&robot, "sonar", 's', 'S');
ArModeBumps bumps(&robot, "bumps", 'b', 'B');
ArModeLaser laser(&robot, "laser", 'l', 'L');
ArModeWander wander(&robot, "wander", 'w', 'W');
ArModeUnguardedTeleop unguardedTeleop(&robot, "unguarded teleop", 'u', 'U');
ArModeTeleop teleop(&robot, "teleop", 't', 'T');
// activate the default mode
// turn on the motors
// Block execution of the main thread here and wait for the robot's task loop
// thread to exit (e.g. by robot disconnecting, escape key pressed, or OS
// signal)
return 0;