Auclient

Introduction

A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display data graphically.

The client implements a command line interface, and a module to display images using openCV X-interface.

The program is started with the command in a directory with a auclient.ini configuration file:

auclient

A command to a laser server running on smr16 could be:

laser connect=smr16:24919
laser cmd="scanget"

If the laser scanner is running on smr16 (the mmr), then the laser scanner data should be displayed.

The camera server can be accessed like (if it is connected):

cam cmd="imageget all"

Some display options are available as shown by the help command

disp help

NB! the client is implemented as modules in the standard server frame, and thus the modules must be loaded before use. (they are most likely loaded from the ini-file (auclient.ini) if this exist in the directory where the AUCLIENT were started.

The AUCLIENT is converted from the old UCLIENT and all future development is added here.

Typical configuration

A auclient.ini configuratuin that will try and keep connection to laser and camera server could be:

# AU Client initiation script (most modules in client is linked statically - see module help)
module load=var
module load=odopose
module load=utmpose
module load=mappose
module load=imagepool
module load=display
module load=poly
# create and configure interface (to camera server)
module load=if alias=cam
# add handler of data coming from camera server
module load=camdata
camdata add=gmk
camdata add=path
camdata add=img
camdata add=cam
# request some images from the camera server, when they gets updated
camonconnect cmd="cam poolpush img=0 flush;
camOnConnect cmd="cam poolpush img=0 cmd='poolget all'"
camonconnect cmd="cam poolpush img=10 flush;
camOnConnect cmd="cam poolpush img=10 cmd='poolget all'"
camonconnect cmd="cam poolpush img=32 flush;
camOnConnect cmd="cam poolpush img=32 cmd='poolget all'"
camonconnect cmd="cam poolpush img=33 flush;
camOnConnect cmd="cam poolpush img=33 cmd='poolget all'" 
camonconnect cmd="imageget"
#
# add interface to laser scanner server
module load=if alias=laser
laser add=var
# add handler of laser scanner data
module load=laserdata
laserdata add=obst
laserdata add=road
laserdata add=sf
laserdata add=man
module load=laserscan
#laser add=sf
#connect to moduletester
laserOnConnect cmd="laser varpush struct=obst flush"
laserOnConnect cmd="laser varpush struct=obst cmd='obst update fixed'"
laserOnConnect cmd="laser mapposepush flush"
laserOnConnect cmd="laser mapposepush cmd='mappose pose'"
laserOnConnect cmd="laser odoposepush flush"
laserOnConnect cmd="laser odoposepush cmd='odopose pose'"
laserOnConnect cmd="laser scanpush flush"
laserOnConnect cmd="laser scanpush cmd='scanget pose'"
laserOnConnect cmd="laser scanget"
#
# configure navigation display (see 'disp help' for more options)
# if you don't need navigation display, then remove these 'disp' lines
disp gridsys=0
disp robot=smr
disp scale=5
disp pos=0.8
disp posehist=300
disp scan=1
disp obst=1
# connect to laserscanner
laser connect=smr12:24919
# connect to camera server
cam connect=localhost:24920