Rosaria connection through USB adapter

asked 2012-01-18 22:32:53 -0600

LucaGhera
128 ●19 ●20 ●27

Hi all,

I'm trying to define an Orocos component for controlling the movement of a Pioneer3dx.

For doing that I installed the Orocos and ROSARIA stacks.

Now the problem is that I cannot connect to my robot. It is connected to the pc through and USB adapter and the aria library looks by default for the serial port.

I tried to use these coomands:

ArSerialConnection serialCon;
serialCon.setPort("/dev/ttyUSB0");
robot.setDeviceConnection(&serialCon);

However the application still locks for the serial port and not for the usb. How can I fix it?

Thanks!!

answered 2012-01-19 00:14:53 -0600

JKS
306 ●2 ●3 ●5

Hi! I'm not very familiar with Orocos, but are you sure that you are using ROSARIA to connect to the robot? USB to serial is the default in ROSARIA (/dev/ttyUSB0) and you can change it using port parameter, e.g. rosrun ROSARIA RosAria _port:=/dev/ttyUSB1 in case you have something else on /dev/ttyUSB0.

If you are using Aria library directly (from Aria metapackage), take a look at RosAriaNode::Setup() method:

ArArgumentBuilder *args;
args = new ArArgumentBuilder();
args->add("-rp"); //pass robot's serial port to Aria
args->add(serial_port.c_str());
// left out irrelevant code
conn = new ArSimpleConnector(args);
// left out irrelevant code
// Connect to the robot
if (!conn->connectRobot(robot)) {
  ArLog::log(ArLog::Terse, "rotate: Could not connect to robot! Exiting.");
  return 1;
}

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@JKS Thank! Yes, actually I think I'm using Aria and not ROSARIA. Is there a tutorial for ROSARIA? Btw, I tried to apply you code and it works!!! Thanks!!

LucaGhera ( 2012-01-19 02:50:26 -0600 )edit

Can you setup ROSARIA to use a TCP instead of a serial connection? If so how? In the source code I noticed that the arguments -rh (remotehost) and -rrtp (remote port) are passed. But if Iuse RosAria -rh IP -rrtp PORT it still tries the serial connection.

Eisenhorn ( 2012-10-19 02:09:30 -0600 )edit

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