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''' UServer '''
==Introduction==


An (almost) empty server, where the loaded plug-in modules determine the functionality.
An (almost) empty server, where the loaded plug-in modules determine the functionality.


[[Image:nav-server.png]]
This is intended for other purposes than camera server and laser scanner server. Currently this is used for behavior generation (caller ''aunav'') and process monitoring (called ''aukeeper'').


The server is started by:
===Usage===


./userver
A userver executable is available in the bin-directory of the AURS. This is to be renamed to the desired server name, e.g. by a symbolic link:


And reads startup commands from the scriptfile 'userver.ini' (if such exist in the default directory).
ln -s userver aunav
It will then show a server prompt:


>>
The server name determines the default configuration file. I.e. the configuration file for ''aunav'' is ''aunav.ini''.
 
And accept commands from this prompt like the other servers.
 
A few library modules can be loaded directly without any external files, to see wich modules that are available as 'static' modules try:
 
>> module help
 
Other modules can be loaded like:
 
>> module load="./ausmr.so.0"  # an smrdemo interface plugin

Revision as of 07:23, 25 April 2010

Introduction

An (almost) empty server, where the loaded plug-in modules determine the functionality.

This is intended for other purposes than camera server and laser scanner server. Currently this is used for behavior generation (caller aunav) and process monitoring (called aukeeper).

Usage

A userver executable is available in the bin-directory of the AURS. This is to be renamed to the desired server name, e.g. by a symbolic link:

ln -s userver aunav

The server name determines the default configuration file. I.e. the configuration file for aunav is aunav.ini.