Adept MobileRobots Pioneer LX, Руководство пользователя

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Pioneer LX User's Guide, Rev. A
Page 49 of 125
Chapter 5: Programming
Chapter 5: Programming
All MobileRobots platforms use a two-tier architecture. Pioneer LX’s microcontroller with
embedded MARCOS firmware manages all the details of the robot’s mobility and internal sys-
tems including implementing velocity control of the robot platform, coordinating the motors,
receiving encoder data, integrating encoder and gyro data to determine an estimate for robot
position, managing power to all components, and more. MARCOS unifies the mobile robot
base into a single system with one interface channel through which software on the onboard
computer can communicate and control the mobile robot base Software running on the
onboard PCs communicates with MARCOS to receive data and send commands.
5.1 ARIA
Software communicates with MARCOS via a simple packet-based protocol (See
Communication Packet Protocol on page 113) via a serial connection between the robot and
the embedded computer.
To support development of software, MobileRobots provides a C++ development library called
ARIA which implements this protocol, provides interfaces to many accessory devices, and also
includes many useful tools for robotics and cross-platform programming. It is also possible to
use ARIA in Python and Java via wrapper libraries and Matlab via a MEX/C interface layer.
ARIA installation packages can be found on the CD included with your robot, preinstalled on
the onboard computer and the latest version as well as all future updates can be downloaded
at
http://robots.mobilerobots.com/wiki/ARIA . ARIA can be used on Linux with the standard
GNU C++ compiler and linker (g++), or on Windows with Microsoft Visual C++ (either Visual
Studio 2003, 2008 or 2010). ARIA is provided as open-source software, under the terms of the
GNU General Public License (GPL). Full reference documentation is included.