Programming Mobile Robots with Aria and Player A Guide to C++ Object
Programming Mobile Robots with Aria and Player provides a comprehensive guide to creating object-oriented C++ programs for robots using the Player and Aria APIs within a Linux environment. A basic knowledge of object-oriented techniques is assumed, but th
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Amanda Whitbrook
Programming Mobile Robots with Aria and Player A Guide to C++ Object-Oriented Control
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Dr. Amanda Whitbrook University of Nottingham School of Computer Science IMA Research Group Wollaton Road Nottingham NG8 1BB UK [email protected]
Additional material to this book can be downloaded from http://extras.springer.com.
ISBN 978-1-84882-863-6 e-ISBN 978-1-84882-864-3 DOI 10.1007/978-1-84882-864-3 Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2009940604 c Springer-Verlag London Limited 2010 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudioCalamar, Figueres/Berlin Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
This book is dedicated to my family; my son Charlie, my mother Josephine, my sister Squirrel, and the memories of my late brother Steven and late father Ray.
Preface
This book is intended as a comprehensive guide to object-oriented C++ programming and control of the Pioneer class of robots made by MobileRobots Inc. It covers both the native API (ARIA, supplied by the manufacturer for use with all their classes of robot), and the popular and more generic open-source Player server, which can be used with many different makes and models. Hence, although the book is written around the Pioneer robots in particular, the techniques and principles demonstrated are applicable to a wide range of other mobile robots currently in use in academic and industrial robot labs around the world. The aim is to provide a text that can be used for the practical teaching of objectoriented programming with real robots, and also support researchers using Player and ARIA in their labs. The reader will learn how to install the necessary software, troubleshoot common problems, set up the files needed to describe their robot configuration, and will rapidly be able to get started with the task of creating their own control programs. The text assumes some prior knowledg
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