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Raúl

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MSRS Exploration software for P3DX? - 2008/01/22 22:43 I just received this question via email:

hi, i'm an italian student and i've a pioneer p3dx! i'm using MSRS and i want make an exploration using sonar! i've seen your video and i wuold have the code you have developped for the pioneer wondering if is possible! can you help me?

Let me answer in the MSRS forum... Raúl Arrabales Moreno. conscious-robots.com/raul

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Re:MSRS Exploration software for P3DX? - 2008/01/22 22:53 And here goes the answer

You are lucky to have a Pioneer 3 DX!

I think a good starting point for you would be to try and have a look to the source code of my ExplorerSimSonar Application. I know this is an application for the MSRS simulator. However, you can reuse most of the code for the real Pioneer robot.

The ExplorerSimSonar app is formed by the following Robotics Studio services:

- SimulatedSonar -> Implements a simulated Sonar.
- CraniumDashBoard -> Control panel window
- MazeSimulatorRA -> a version of Maze Simulator.
- ExplorerSimSonar -> Autonomous robot control.
- DifferentialDriveTT -> Trevor's DifferentialDrive.

So what you need to use it with the real Pioneer robot is to replace the simulated sonar service with the arcos sonar service. Also, instead of using the DifferentialDriveTT service you need to use the ArcosDifferentialDrive included in the MSRS distribution.

Take into account that I tend to use generic contracts for Sonar and Differential drive, so I would say that you wouldn't need many changes in the ExplorerSimSonar service to convert it into ExplorerSonar. Actually, I think I have a version somewhere (as I tested the code with my real P3DX). Please, let me know if you have any problem with the code and I'll try to share my exploration code with you.

Cheers,
Raul. Raúl Arrabales Moreno. conscious-robots.com/raul

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Re:MSRS Exploration software for P3DX? - 2008/01/22 22:56 By the way, I think you could be interested in most of the content available at MSRS Pages:

http://www.conscious-robots.com/en/robotics-studio/index.php Raúl Arrabales Moreno. conscious-robots.com/raul

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Re:MSRS Exploration software for P3DX? - 2008/01/25 14:25 hi! i've many problems and i need your code of corse... can you share it please?

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Re:MSRS Exploration software for P3DX? - 2008/01/25 14:50 Hi Marco,

Have a look to the attached code. It's been long since the last time I modified this code, but it should work with a P3DX. It is an adaptation of the samples-misc-explorer service that comes with MSRS. The difference is that this service uses Sonar (instead of Laser LRF) for exploration. The project I've uploaded is configured to be put under samples misc (like the original explorer service).

Let me know if this works for you, and please keep me in the loop if you make any substantial change to this service.

Cheers,
Raúl.

File Attachment:
File name: CeraExplorer.zip
File size:14923 bytes

Raúl Arrabales Moreno. conscious-robots.com/raul

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Re:MSRS Exploration software for P3DX? - 2008/01/25 17:13 the motor turns on but the robot doesen't move... i don't have the bumpers in the P3DX... it gives also many log errors...

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Re:MSRS Exploration software for P3DX? - 2008/01/25 17:50 Ok, I think the service is programmed to start moving when a bumper is pressed. So if you don't have the physical bumpers installed that explains why your robot is not moving.

You just need to have a look to the code and check where the exploration is initiated to make it not depend on the bumpers.

Additionally, if you don't plan to use the bumpers, remove the bumper service from the manifest and the code, so you don't get error messages. I guess the log errors are related to that issue. Anyhow, let me know what error messages are you getting and maybe I could help.

Other quick option, if you just want to shot a video of the robot wandering around is to run the ARIA demo, which comes with the Pioneer software. You just need to start the ARIA demo program and press 'w'. Raúl Arrabales Moreno. conscious-robots.com/raul

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