Robot GUI (MARG)

MARG (Mobile Autonomous Robot GUI) is a java applet intended as a graphical user interface for Mobotware robots.

At present is is used for hardware test for SMR robots, as most of the graphical display and data capture is missing.

How to use

Start a web browser, and in the address field type the name of the SMR, e.g.:

smr3.iau.dtu.dk

The java applet wil be loaded (you may be asked to accept to run this applet).

Start image when monitoring SMR3

TEST hardware

Three set of sensors can be tested:

* Linesensor, IR-sensor, and wheel control
* camera
* laserscanner

Linesensor, IR-sensor, wheel control

Select RHD module and SMR-tab:

The line-sensor and IR-sensor should now update (once every second).

The wheel control can be tested by moving the slider below the left and right wheel symbol.

Camera

Select the camera module (1) and press the connect button (2) (as shown on image).

This should change the camera button to green. Then type push cmd="imageget" in the field (3)

push cmd="imageget"

Press the send button (4) - or hit return.

A list of data should appear in the raw data field, with one new line every second, something like:

... <push done="true"></push>
-> push cmd="imageget"
<imageget x="0" y="0" w="0" h="0" format="BGR" remRad="false" dev="10" imgTod="1281613399.200692" posName="" pool="0"></imageget>
<imageget x="0" y="0" w="0" h="0" format="BGR" remRad="false" dev="10" imgTod="1281613400.182666" posName="" pool="0"></imageget>
<imageget x="0" y="0" w="0" h="0" format="BGR" remRad="false" dev="10" imgTod="1281613401.164516" posName="" pool="0"></imageget>
<imageget x="0" y="0" w="0" h="0" format="BGR" remRad="false" dev="10" imgTod="1281613402.146366" posName="" pool="0"></imageget>
<imageget x="0" y="0" w="0" h="0" format="BGR" ... 

The image will not be shown (not implemented).

Laser scanner

Select the laser module (1) and press the connect button (2) (as shown on image).

This should change the laser button to green. Then type push cmd="scanget" in the field (3)

push cmd="scanget"

Press the send button (4) - or hit return.

A list of data should appear in the raw data field, with one new block every second, something like:

... 
-> push cmd="scanget"
<push done="true"></push>
<scanget serial="1" interval="0.351562" count="682" tod="1281613992.348607" unit="mm" min="-119.88" max="119.53" codec="HEX">
<pose name="robot" x="0.000" y="0.000" h="0.000"></pose>
<pos3d x="0.2" y="0" z="0.05" name="device"></pos3d>
<rot3d name="device" Omega="0" Phi="0" Kappa="0"></rot3d>
<bin size="2728" codec="HEX">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</bin>
</scanget>
<scanget serial="3" interval="0.351562" count="682" tod="1281613992.744879" unit="mm" min="-119.88" max="119.53" codec="HEX">
<pose name="robot" x="0.000" y="0.000" h="0.000"></pose>
<pos3d x="0.2" y="0" z="0.05" name="device"></pos3d>
<rot3d name="device" Omega="0" Phi="0" Kappa="0"></rot3d>
<bin size="2728" codec="HEX">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</bin>
</scanget>