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ARIA

ARIA C++库适用于MobileRobots公司的所有产品

ARIA provides an interface and framework for controlling and receiving data from all MobileRobots (ActivMedia) robot platforms, as well as many accessory devices (other devices have separate interface libraries). ARIA includes utilities useful for writing robot control software as well as tools for writing cross-platform (Windows and Linux) code (such as network sockets and threads). ARIA is the foundation for all other MobileRobots software libraries, such as ArNetworking and ARNL.

*Full source code provided, under than GNU General Public License.
*Libraries (both static and dynamic) provided for Linux (GCC 3.4 or 4.x) and for Windows (MS Visual C++ 2003 and 2008). ARIA is portable C++, and can be recompiled for different compilers and platforms.
*Java interface included (via wrapper library and JNI)
*Python interface included (via wrapper library)
*Includes reference manual and example programs
*Optional high level "actions" framework combines multiple independent motion behaviors into unified robot motion state. Several predefined action components are provided including obstacle avoidance.
*All ARIA classes are either thread-safe or provide locking functions for thread-safe access.


Provides interface and utilities for all robot features and many accessory devices, including:(as of ARIA 2.7):

*built in Pioneer sonar
*SICK LMS-200 and LMS-100 laser rangefinders
*Hokuyu URG 04LX laser range finder
*Canon VC-C Pan/Tilt/Zoom camera
*robot bumper sensors
*DirectedPerceptions pan-tilt unit
*GPS receivers supporting NMEA standard protocol (including Trimble AgGPS and Novatel)
*TCM Compass
*PeopleBot IR sensors
*Pioneer gripper
*USB and robot joysticks
*Keyboard key handler
*Various legacy and discontinued MobileRobots devices
*Interfaces for some other accessories are provided by separate libraries.
Cross-platform utilities for network sockets, threading tools (threads and mutexes), serial port communications, playing sounds, handling command-line arguments, stored program configuration, robot maps, and more.

Transparently supports all MobileRobots robot platforms, and the MobileSim simulator.

 

ArNetworking 库

ArNetworking 库包含于ARIA库之中,也适用于所有的MobileRobots机器人产品

ArNetworking provides a simple extensible framework for client-server network programming. ArNetworking includes predefined services which provide remote access over a network to robot information and control, including user teleoperation, sensor data, graphical visualizations of robot and sensor data, a "wander" mode, user alerts (via pop-up dialog box or other UI), and sets of general-purpose data values and commands. ArNetworking also includes some tools to manage information about multiple robots, so they can coordinate or share information. Full source code is provided under the GNU GPL, as well as documentation, example servers, and Java and Python interface libraries. Use ArNetworking for access by a remote user interface application, such as MobileEyes, or your own software, or both.