This is meant to run on the secondary computer ("top" or "torso" computer) of a Pioneer LX Manipulator or similar robot. It tries to connect any available Kinova arms, a pan/tilt unit (configure via command line arguments), and to an ARNL server (configure via command line arguments). It opens another ArNetwworking server for configuration and some visualization (to run on the same computer as the ARNL server instead, use the -serverPort argument to specify a different server port for this server. You will need to do this if you see an error like "ArSocket::open: could not bind... Address already in use ... Can't open server on port 7272 yet, waiting")
For example:
demo -host 192.168.0.32 -ptzType dpptu
or:
demo -host localhost -ptzType axis -serverPort 7070
When ARNL reaches a goal starting with the prefix "Arm Demo" (or just the name "Arm Demo", it stops the tour of goals, performs the arm demo (depending on demo mode). There are two goal modes:
- Reactive - put the arms in reactive (zero gravity) mode. The PTU is moved to track the left hand. You must resome touring goals manually via MobileEyes.
- CartesianPos - Do a sequence of cartesian positions. The PTU tracks the left hand. When done, automatically resumes touring goals.