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Omron Robot CLI

This document describes the standalone non-ROS command-line test client built from tools/omron_robot_cli.cpp.

The tool is intended for first-contact robot checks before involving ROS 2. It connects to the robot over ArNetworking, prints live robot state, and lets you send a small set of operator commands for motion, navigation and docking.

What It Tests

  • Network connection to the robot server
  • ArNetworking protocol compatibility using 6MTX first, then legacy fallbacks
  • Robot state updates such as mode, status, pose, velocity and battery
  • Basic operator commands such as stop, safe drive, ratio drive and goto pose
  • Dock request support when the server exposes the dock interface

Build

Build the package from the workspace root:

cd /home/ubuntu/colcon_ws
colcon build --packages-select libaria

Then source the workspace so the installed binary and libraries are available:

source /home/ubuntu/colcon_ws/install/setup.bash

Launch

Run the installed executable:

/home/ubuntu/colcon_ws/install/libaria/bin/omron_robot_cli

The CLI defaults to the current standalone test-client settings:

  • Host: 192.168.1.1
  • Port: 7272
  • User: admin
  • Password mode: -np (no password)

If your robot uses different settings, override them on the command line:

/home/ubuntu/colcon_ws/install/libaria/bin/omron_robot_cli \
	-host 192.168.0.50 \
	-p 7272 \
	-u admin \
	-np

If the server requires a password, use -pw (or -pwd) instead of -np:

/home/ubuntu/colcon_ws/install/libaria/bin/omron_robot_cli \
	-host 192.168.0.50 \
	-p 7272 \
	-u operator \
	-pw secret

To inspect every advertised request on the connected robot interface, add --check-interface:

/home/ubuntu/colcon_ws/install/libaria/bin/omron_robot_cli \
	-host 192.168.1.1 \
	-p 7272 \
	-u admin \
	-pw admin \
	--check-interface

A sample list of available interfaces is printed in the Current Interfaces document.

Startup Behavior

On successful connection the tool:

  • Tries 6MTX, then D6MTX, then 5MTX, unless you override it with -protocol <value>
  • Starts the ArNetworking client asynchronously
  • Requests robot update packets
  • Subscribes to dock state updates if the server provides dockInfoChanged
  • Prints a startup summary with the local CLI commands and their live server availability
  • Enters an interactive prompt: omron>

If you pass --check-interface, the tool also prints the full list of server requests advertised by the robot after connecting.

6MTX is the protocol currently advertised by the robot on port 7272. The fallbacks remain available for older controllers or mixed environments.

To disable protocol enforcement entirely and accept the server-advertised version, pass an empty protocol string:

/home/ubuntu/colcon_ws/install/libaria/bin/omron_robot_cli \
	-host 192.168.0.50 \
	-p 7272 \
	-u operator \
	-pw secret \
	-protocol ""

Commands

Type help or options at the prompt to print the built-in command summary.

The command summary is formatted as one command per line, for example:

help                                                                     Show this summary
options                                                                  Show this summary
status                                                                   Show one robot state snapshot
watch [count] [interval_ms]                                              Stream repeated status snapshots
stop                                                                     Stop motion (available)
safe                                                                     Enable safe drive (available)
unsafe                                                                   Disable safe drive (available)
ratio <trans_pct> <rot_pct> [duration_ms] [throttle_pct] [lat_pct]       Ratio drive percentages (available)
cmdvel <linear_mps> <angular_rad_s> [duration_ms] [throttle_pct] [lat_pct] Twist-style velocity command (available)
goto <x_m> <y_m> <theta_deg>                                             Send gotoPose (available)
dock                                                                     Request docking (available)
undock                                                                   Request undocking (available)
quit                                                                     Exit the CLI

Availability is evaluated against the live server after connection.

When --check-interface is enabled, the tool prints a separate list of all advertised server requests, one per line. Use that list to discover robot-side services beyond the built-in CLI commands.

status

Print one snapshot of current robot state:

  • Mode
  • Status string
  • Pose in meters and heading in degrees
  • Translational, lateral and rotational velocity
  • Battery voltage
  • Dock state, when available

Example:

status

watch [count] [interval_ms]

Print repeated status snapshots.

Examples:

watch
watch 20 500

The first form prints 10 updates at 1 second intervals.

stop

Requests stop mode through ArClientRatioDrive::stop().

Example:

stop

Use this as the first recovery command if the robot is moving unexpectedly.

safe

Requests safe drive mode on the server.

Example:

safe

unsafe

Requests unsafe drive mode on the server.

Example:

unsafe

Do not use unsafe drive unless you are certain the test area is clear and you understand how the server is configured.

ratio <trans_pct> <rot_pct> [duration_ms] [throttle_pct] [lat_pct]

Sends ratio-drive commands using ArClientRatioDrive. Values are percentages of the server-configured limits.

Examples:

ratio 10 0 1000
ratio 0 15 1000
ratio 5 -10 1500 50

Notes:

  • trans_pct is forward/backward percentage
  • rot_pct is rotational percentage
  • duration_ms is optional; if provided, the client waits that long and then sends stop
  • throttle_pct defaults to 100
  • lat_pct defaults to 0

For initial testing, start with small values such as 5 or 10.

cmdvel <linear_mps> <angular_rad_s> [duration_ms] [throttle_pct] [lat_pct]

Sends a Twist-style velocity command by converting linear and angular speeds into ratioDrive percentages. The default conversion assumes 0.5 m/s corresponds to 100% translational drive and 1.0 rad/s corresponds to 100% rotational drive.

Examples:

cmdvel 0.1 0.0 1000
cmdvel 0.0 0.2 1000

This command is useful when you want CLI behavior to match ROS Twist inputs. For raw ratio percentages, use ratio.

goto <x_m> <y_m> <theta_deg>

Sends a gotoPose request to the server in meters and degrees.

Example:

goto 1.0 0.0 0

If the server does not advertise gotoPose, the command reports that instead of sending the request.

dock

Sends a dock request to the server.

Example:

dock

If the server does not advertise dock, the command reports that instead of sending the request.

undock

Sends an undock request to the server when that interface is advertised.

Example:

undock

If the server does not advertise undock, the CLI reports that and keeps the session active. If you need to inspect the full server interface, run the CLI with --check-interface.

quit

Exits the prompt, requests stop, disconnects the client and shuts down ARIA.

Examples:

quit
exit

Recommended First Test Sequence

Use a conservative sequence on real hardware:

  1. Start the CLI and confirm it connects.
  2. Run status.
  3. Run watch 10 500.
  4. Run safe.
  5. Run ratio 5 0 1000.
  6. Run stop.
  7. Run ratio 0 5 1000.
  8. Run stop again.

Only after those succeed should you test goto or dock.

Troubleshooting

Connection rejected

Check host, port, username and password options. If the robot server uses a password, do not use -np.

Connected but command is unavailable

The CLI checks whether the server advertises interfaces such as gotoPose, dock, or ratioDrive. If a command is unavailable, verify that the robot-side server actually exposes that request.

ARIA prints could not find where it is located

That message may appear when running directly from a build tree or without the expected installed layout. Prefer running the installed binary after sourcing the workspace setup file.

Source