*IMPORTANT NOTE: The original ARIA 2.9.4 README follows. The code has since been modified by removing some obsolete or little-used classes and other changes. ArNetworking is also not currently included. Therefore this README is now out of date. *

Version 2.9.4

Linux

Copyright 2002, 2003, 2004, 2005 ActivMedia Robotics, LLC. All rights reserved. Copyright 2006, 2007, 2008, 2009 MobileRobots Inc. All rights reserved. Copyright 2010-2015 Adept Technology. All rights reserved. Copyright 2016-2018 Omron Adept Technologies, Inc. All rights reserved.

See LICENSE.txt for full license information about ARIA.

Please read this document for important details about using ARIA.

• Introduction
• Documentation
• Licenses and Sharing
• ARIA Package
• Files of Note
• Compiling programs that use ARIA
  • Windows
  • Linux
    • Using ARIA's Makefiles
    • Using your own Makefile or other build system
    • Setting variables for ARIA Makefiles
    • Learning more about using Linux
  • Mac OSX
  • Learning more about C++
• Using ARIA from Python and Java
• Using ARIA from Matlab or Simulink
• Simulator

Welcome to the Adept MobileRobots Advanced Robotics Interface for Applications (ARIA). ARIA is an object-oriented, application programming interface (API) for the Adept MobileRobots (and ActivMedia) line of intelligent mobile robots, including Pioneer 2/3 DX and AT, PeopleBot, PowerBot, AmigoBot, PatrolBot/Guiabot, Seekur, SeekurJr and Pioneer LX mobile robots.

Written in the C++ language, ARIA provides access to and management of the robot controller, as well to many accessory robot sensors and effectors, as well as useful utilities and infrastructure for cross-platform robot application development.

Several levels are available for application to use in ARIA, from simple command-control of the robot server for direct-drive navigation, to development of higher-level intelligent actions (aka behaviors).

ARIA is provided as open source software under the GNU General Public License. This allows you to view, modify and rebuild the ARIA library as desired, provided that software developed with ARIA comply with the requirements of the license. Please see LICENSE.txt for the full license under which ARIA has been provided.

The ARIA package includes both source code and pre-built libraries and example programs. These libraries and programs were build with GCC 4.x if on Linux, and Visual C++ 2012 (11.0), Visual C++ 2015 (14.0), and Visual C++ 2017 (15.x) for Windows Desktop if on Windows.

Using the above compilers for development is recommended. See below for specific instructons on using these compilers to build your
programs linked to ARIA, or to rebuild ARIA.

NOTE: If you use a different compiler or compiler version, you must rebuild the ARIA libraries to ensure link compatability.

To get started immediately with ARIA, refer to the examples in the "examples" directory (start with "simpleConnect.cpp"), read the information below, and in the ARIA Reference manual.

See below for more information about building programs with ARIA on Windows and Linux and using the Windows and Linux development tools.

Follow the INSTALL text instructions to install ARIA on your Linux or Windows workstation or robot computer. System requirements are included in the INSTALL.txt file.

ARIA includes a full API Reference Manual in HTML format. This manual, Aria-Reference.html (and in the docs/ directory), includes documentation about each of the classes and methods in ARIA, as well as a comprehensive overview describing how to get stated understanding and using ARIA. In addition, ARIA includes several example programs in the examples/ (start with simpleConnect.cpp, then explore the others) and advanced/ directories, and the header files and source code are included in include/ and src/ as well.

The ArNetworking library has its own reference manual, ArNetworking-Reference.html in the ArNetworking subdirectory, and examples in ArNetworking/examples.

If you plan on using the Java, Python or Matlab wrapper libraries, see the javaExamples, pythonExamples, ArNetworking/javaExamples, ArNetworking/pythonExamples, and matlab directories for important information in README files, and example programs. You should also read the ARIA Reference manual for general information about ARIA -- the API in the wrapper libraries are almost identical to the C++ API.

If you have any problems or questions using ARIA or your robot, the MobileRobots support site provides:

• A FAQ (Frequently Asked Questions) list, at http://robots.mobilerobots.com/FAQ.html
• A knowlege base of information on robot hardware and software, at http://robots.mobilerobots.com
• All robot and device manuals
• The Aria-Users mailing list, where you can discuss ARIA with other users and MobileRobots software developers:
  • Search the archives at http://robots.mobilerobots.com/archives/aria-users/threads.html
  • Join the list at http://robots.mobilerobots.com/archives/aria-info.html
• Information on contacting MobileRobots technical support.

Visit the MobileRobots support site at http://robots.mobilerobots.com

ARIA is released under the GNU Public License (GPL) v.2, which means that if you distribute any work which uses ARIA, you must distribute the entire source code to that work under the GPL as well. Read the included LICENSE text for details. We open-sourced ARIA under GPL with full source code not only for your convenience, but also so that you can share your work and enhancements to the software. If you wish your ARIA changes to make it into our future ARIA versions, you will need to assign the copyright on those changes to Adept. Contact [email protected] with these changes or with questions about this.

Accordingly, please do share your work, and please sign up for the exclusive [email protected] newslist so that you can benefit from others' work, too.

ARIA may instead be relicensed for proprietary, closed source applications. Contact [email protected] for details.

For answers to frequently asked questions about what the GPL allows and requires, see http://www.gnu.org/licenses/gpl-faq.html

Aria/: docs The API Reference Manual: Extensive documentation of all of ARIA examples ARIA examples -- a good place to start; see examples/README.txt include ARIA header (.h) files src ARIA source code (.cpp) files lib or lib64 - Libraries (.lib files for Windows, .so files for Linux) bin or bin64 - Contains Windows binaries and DLLs. params Robot parameter files ("p3dx.p", for example) containing defaults for various robot types. You can also add a custom parameter file here named for your robot's NAME (see ARIA reference manual). tests Test files, somewhat esoteric but useful during ARIA development utils Utility programs: file conversion and manipulation, and some tools used internally by MobileRobots for ARIA development and releases. See utils/README.txt for description of conversion utilities. python Python wrapper modules and libraries pythonExamples - Example Python scripts and README file with details on how to use ARIA with Python. java Java wrapper library javaExamples Example Java programs and README file with details on how to use ARIA with Java. maps Some example map files that may be used with the simulator. matlab Scripts and instructions that may be used to compile a simplified Matlab interface to ARIA. VSTemplates - Contains project templates for Visual Studio. Run the included script to copy these templates to your home directory (Windows only) Command Prompt in ARIA Directory (Windows only) - Runs a Windows command prompt session that may be used to explore and run example programs from the ARIA directory. CommandLineOptions.txt - Summary of typical command-line options that may be given to most ARIA programs LICENSE.txt GPL license; agree to this to use ARIA Aria-.sln MS Visual C++ solutions for building ARIA and 'demo'. examples/All_examples-.sln MS Visual C++ solutions for building ARIA examples. Makefile (Linux only) GNU Make makefile (for building ARIA and examples Makefile_example Example GNU Makefile (Linux only) that you can copy and modify for your own project. INSTALL.txt More information about installing ARIA README.txt This file; also see READMEs in advanced/, examples/, and tests/ Changes.txt Summary of changes in each version of ARIA

Aria/ArNetworking/: (A library used to facilitate network communication) docs API Reference Manual for ArNetworking examples ArNetworking examples include ArNetworking header (.h) files src ArNetworking source (.cpp) files python Python wrapper package pythonExamples - Python examples and instructions java Java wrapper package javaExamples - Java examples and instructions

If you have installed any additional ARIA/Pioneer SDK libraries then they will also be available as subdirectories of the Aria directory.

If you have installed ARNL, SONARNL or MOGS, then it will be in a separate installation (Arnl directory).

On Windows, use Microsoft Visual C++ 2012 (VC11), Visual C++ 2015 (VC14) for Windows Desktop, or Visual C++ 2017 (VC15) for Windows Desktop. Free "Express" or "Community" versions of Visual C++ can be downloaded from Microsoft (see microsoft.com or visualstudio.com), or full versions purchased. Only Visual C++ is required. Other Visual Studio options such as "Universal" builds (for Windows 10, Phone and Tablet), C#, web development tools, .NET, SQL Server or database tools, Enterprise tools, Silverlight, etc. are not required by ARIA or other Pioneer SDK libraries, and do not need to be installed.

Note: If you use a different version of Visual C++, you must rebuild the ARIA libraries. We recommand, test, and support only the above versions; other versions or other compilers may or may not work. If you need to make any changes to use other compilers or compiler versions, please share your experience with the aria-users mailing list.

You can start a new project from a template, or from scratch.

To start a project from a template, first install copies of the ARIA templates by running the "Install Visual C++ Templates.bat" script from the Start menu -> All Programs -> MobileRobots -> Aria -> Install Visual C++ Templates. Exit Visual Studio if running. Run Visual Studio. Click on "New Project..." from the startup page or the File menu. Expand the "Installed", "Templates", "Visual C++", "ARIA" categories on the left, and select "Program using ARIA Library". Fill in your desired project names and directory locations and click OK. An example program is included in the project which initializes ARIA, parses command-line arguments, attempts to connect to a robot, displays some data, then exits after sleeping for 3 seconds. Modify this as desired.

The ARIA DLLs are in the ARIA "bin" directory (C:\Program Files\MobileRobots\Aria\bin).
This directory can be added to the system PATH, or the appropriate ARIA DLL copied to the same directory as your program executable, or you can place your program executable in the ARIA bin directory.

ARIA does not require the use of precompiled headers, and precompiled ARIA headers are not provided.

You do not need to include "stdafx.h" and "stdafx.cpp" in your project.

To make your program more portable, you can use a standard C++ definition of your program's main function rather than WinMain or other Windows-specific conventions:

int main(int argc, char **argv) { Aria::init();

  ...
  
  Aria::exit(0);
  returrn 0;

}

All code that uses the ARIA API should include the Aria.h header file before any other ARIA header files or header files from other Pioneer SDK libraries. Aria.h will set up some preprocessor and type definitions needed by the rest of the ARIA API:

#include "Aria.h"

See the ARIA API reference documentation and example programs to get started writing your programs.

Begin by creating a new solution and C++ project for your application. You may also add the appropriate ARIA project(s) to your solution as well, as dependencies of your program. This will let your solution automatically rebuild the ARIA libary if neccesary. Make sure to use the project files(s) corresponding to the version of Visual C++ you are using.

Now you must configure your project to find ARIA. These instructions assume a default installation; if you installed ARIA elsewhere you must use different paths. If you keep your Visual Studo project within ARIA's directory, you can also use relative paths (e.g. "..\lib" for the library path).

ARIA DLL libraries are provided in two variants, "Debug" libraries that use the "Multithreaded Debug DLL" runtime library, and non-Debug or "Release" libraries that use the plain "Multithreaded DLL" runtime library. The ARIA solutions use a "Debug" and a "Release" configuration to select these variants; you can also use these configuration names as well if you wish.

It is also possible to build static ARIA libraries. These libraries use the "Multithreaded Debug" runtime library for Debug mode, or "Multithreaded" for Release mode. These libraries will include the word "Static" in their names.

You must set up the Debug configuration of your project to match the ARIA Debug configuration, and also set up the Release configuration of your project as well, to match the ARIA Release configuration.

The steps required to configure a new program project settings for use with the ARIA DLL libraries are as follows:

To edit your new project's configuration properties, right click on the project in the solution explorer pane and choose Properties.

1. Change the "Configuration" (upper left of the dialog) menu to "All Configurations".

2. Open the "General" section

• Either set "Output Files" to "C:\Program Files\MobileRobots\Aria\bin" (ARIA's bin directory, where Aria.dll etc. are), or put ARIA's bin directory in your system PATH environment variable, or copy the DLLs to your own project's output directory.

• You may want to change Intermediate Files. ARIA projects use "obj$(ConfigurationName)-" to keep object files separate and out of the way, but Visual C++'s default value is fine also.

• Set "Common Language Runtime Support" to "No Common Language Runtime Support"

3. Open the "Link" or "Linker" section.

• To "Additional Library Path" add "C:\Program Files\MobileRobots\Aria\lib" (or other correct path to ARIA lib directory)

• Open the "Input" subsection.

  • Change the "Configuration" menu (upper left of the window) to "Debug"

  • (Visual C++ 2017) To "Additional Dependencies", add: AriaDebugVC15.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingDebugVC15.lib

  • (Visual C++ 2015) To "Additional Dependencies", add: AriaDebugVC14.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingDebugVC14.lib

  • (Visual C++ 2012) To "Additional Dependencies", add: AriaDebugVC11.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingDebugVC11.lib

  • ARIA does not require any of the Windows system libraries included by Visual C++ as "Inherited values" in the Linker Additional Dependencies, so you can uncheck "Inherit from parent or project defaults" after choosing "Edit" from the drop-down menu next to the Additional Dependencies field if you do not require any of those libraries in your program.

  • Change the "Configuration" menu to "Release"

  • (Visual C++ 2017) To "Additional Dependencies", add: AriaVC15.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingVC15.lib

  • (Visual C++ 2015) To "Additional Dependencies", add: AriaVC14.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingVC14.lib

  • (Visual C++ 2012) To "Additional Dependencies", add: AriaVC11.lib; winmm.lib; advapi32.lib; ws2_32.lib If you are using the ArNetworking library, also add: ArNetworkingVC11.lib

  • ARIA does not require any of the Windows system libraries included by Visual C++ as "Inherited values" in the Linker Additional Dependencies, so you can uncheck "Inherit from parent or project defaults" after choosing "Edit" from the drop-down menu next to the Additional Dependencies field if you do not require any of those libraries in your program.

  • Change the "Configuration" menu back to "All Configurations"

4. Click on the "C++" section.

• Click on the "General" subsection

  • To "Additional Include Directories" add "C:\Program Files\MobileRobots\Aria\include". (or other correct path to ARIA's include directory)

• Click on the "Code Generation" subsection

  • Change the "Configuration" menu (upper left of the window) to "Debug".

    • Under the "Use run-time library" pulldown select "Debug Multithreaded DLL".

  • Change the "Configuration" menu (upper left of the screen) to "Release".

    • Under the "Use run-time library" pulldown select "Multithreaded DLL".

  • Change the "Configuration" menu back to "All Configurations"

To use the static libraries instead of DLLs, set the C++ runtime library to "Multithreaded" (Release configuration) and "Multithreaded Debug" (Debug configuration), list the static libraries for Additional Dependencies in the Linker Input section, and also append ARIA_STATIC to the preprocessor definitions in the C++ -> Preprocessor section (this prevents DLL "export" attributes from being added to method declarations in the ARIA header files.)

The ARIA DLLs are in the ARIA "bin" directory (C:\Program Files\MobileRobots\Aria\bin if installed). This directory can be added to the system PATH, or the appropriate ARIA DLL copied to the same directory as your program executable, or you can place your program executable in the ARIA bin directory.

ARIA does not require the use of precompiled headers, and precompiled ARIA headers are not provided. To disable the use of precompiled headers in your project, open the "Precompiled Headers" subsection in the "C++" section of your project's properties. Change "Use Precompiled Headers" to "no". You can then remove "stdafx.h" and "stdafx.cpp" from your project and remove the #include "stdafx.h" directive from your main source file.

To make your program more portable, you can also change the definition of your program's main function to standard C++:

int main(int argc, char **argv) { ... }

All code that uses the ARIA API should include the Aria.h header file before any othehr ARIA header files or header files from other Pioneer SDK libraries. Aria.h will set up some preprocessor and type definitions needed by the rest of the ARIA API.

#include "Aria.h"

See the ARIA API reference documentation and example programs to get started writing your programs.

On GNU/Linux two tools are used: the compiler (GCC), which compiles and/or links a single file, and Make, which is used to manage building multiple files and their dependencies. If you need to deal with multiple files, you can copy a Makefile and modify it, or create a new one.

Note: In packages for Debian and Ubuntu, the shared libraries were built with the standard G++ version provided with the system. You must use the same version of G++ or a compatible version to build programs that link against it, or rebuild ARIA using your preferrend G++ version. (On Debian and Ubuntu systems, the default g++ and gcc compiler versions may be changed using the 'galternatives' program or the 'update-alternatives' command). In general, the 4.x series of GCC compilers are compatible with each other, but not with 3.4 or other 3.x versions, and vice versa. We recommend using the standard version of GCC on your Linux system, unless using an old version of Linux, (e.g. RedHat 7, Debian 3), in which case, we recommend specifically using GCC 3.4.

When compiling ARIA or its examples, you may also temporarily override the C++ compiler command ('g++' by default) by setting the CXX environment variable before or while running make. E.g.: "make CXX=g++-3.4" or "export CXX=g++-3.4; make".

More information and documentation about GCC is available at http://gcc.gnu.org, and in the gcc 'man' page. More information about Make is at http://www.gnu.org/software/make/. Several graphical IDE applications are available for use with GCC, though none are currently supported by MobileRobots.

The ARIA Makefile is able to build any program consisting of one source code file in the 'examples', 'tests', or 'advanced' directory. For example, if your source code file is 'examples/newProgram.cpp', then you can run 'make examples/newProgram' from the top-level Aria directory, or 'make newProgram' from within the 'examples' directory, to build it. This makes it easy to copy one of the example programs to a new name and modify it -- a good way to learn how to use ARIA.

If you want to keep your program in a different place than the ARIA examples directory, and use your own Makefile or other build tool, you need to use the following g++ options to compile the program:

-fPIC -I/usr/local/Aria/include

If you wish, you may also use -g and -Wall for debugging information and useful warnings. ARIA does not use exceptions, so you may also use -fno-exceptions if you wish; this will cause any use of exceptions in your program to trigger a compile error.

For linking with libAria use these options:

-L/usr/local/Aria/lib -lAria -lpthread -ldl -lrt

If you are also using ArNetworking, use the following compile option in addition to the ARIA options above:

-I/usr/local/Aria/ArNetworking/include

And for linking to libArNetworking:

-lArNetworking

A Makefile for a program called "program" with source file "program.cpp" might look something like this:

all: program

CFLAGS=-fPIC -g -Wall ARIA_INCLUDE=-I/usr/local/Aria/include ARIA_LINK=-L/usr/local/Aria/lib -lAria -lpthread -ldl -lrt

%: %.cpp $(CXX) $(CFLAGS) $(ARIA_INCLUDE) $< -o $@ $(ARIA_LINK)

If you run the make command in the same directory as this Makefile, then GNU Make will check program.cpp for changes, and if newer than program, will attempt to build the target program named "program" using this compiler command, based on the expansions of the variables and the target and dependency patterns which match "program" and "program.cpp":

c++ -fPIC -g -Wall -I/usr/local/Aria/include program.cpp -o program -L/usr/local/Aria/lib -lAria -lpthread -ldl -lrt

Refer to the GNU Make manual http://www.gnu.org/software/make or other books or documentation about Make to learn more.

See the ARIA API reference documentation and example programs to get started writing your programs.

You can add compile options to the following variables used in the ARIA Makefiles, or replace default values. These can be set on the command line when running make, for example:

make CXX="g++-4.6"

These will be used when building or reduilding the ARIA library as well as example and test programs from examples/ and tests/. ArNetworking also has similar variables.

EXTRA_CXXFLAGS Additional compile flags passed to the C++ compiler. You can add GCC options to enable profiling, optimizations, etc.
For example, to rebuild ARIA optimized for the Atom CPU found in the LX/MTX embedded computer, add -mtune=atom and -O2: make clean; make EXTRA_CXXFLAGS="-mtune=atom -O2" Or, to include all symbols to see more information in the output of ArLog::logBacktrace(): make EXTRA_CXXFLAGS="-O0 -rdynamic" Or to enable profiling: make EXTRA_CXXFLAGS="-pg -fprofile-arcs" These compiler flags will be used in addition to ARIA's default flags.

CXX Specify the C++ compiler command to use. The default is g++ or c++. You can use this to use a different version of g++, or to give the full path to g++, or to try a different compiler other than G++.

JAVAC If rebuilding the Java wrapper library, this specifies the Java compiler command to use. Default is "javac".

JAR If rebuilding the Java wrapper library, this specifies the JAR archiver command to use. Default is "jar".

JAVA_BIN If rebuilding the Java wrapper library, this specifies a directory containing JDK commands such as javac and jar.

SWIG If rebuilding the Java and/or Python wrapper libraries, this specifies the swig command used. Default is swig.

PYTHON_INCLUDE
If rebuilding the Python wrapper library, this specifies the Python include directory. Default is /usr/include/python2.5. You usually need to specify this if building on a Linux other than Debian 5.

INSTALL_DIR SYSTEM_ETC_DIR Directories used when installing ARIA from source with the make install command.

INSTALL How to run the install tool. Default is "install --preserve-timestamps"

If you are new to using GNU/Linux, some guides on getting started can be found at the following sites:

• If your robot is using Debian, start with http://www.us.debian.org/doc/manuals/debian-tutorial. More is at http://www.debian.org/doc/.

• If your robot is using Ubuntu, refer to http://help.ubuntu.com/ for documentation and help.

• http://www.tldp.org is a repository of many different guides, FAQ and HOWTO documents about Linux in general, including various programming and system administration tasks. Note however that many details can differ between Linux distributions and not all HOWTO documents will be relevant to your distribution.

• Ask Ubuntu and other question-answer sites can be searched to find answers to problems using Linux, or to ask questions:

  • http://www.askubuntu.com
  • More Stack Exchange sites are at https://stackexchange.com/sites

For more depth, there are many books about using Linux, consult your local computer bookseller. The ideal way to learn about Linux is to work with an experienced colleague who can demonstrate things and answer questions as they arise.

It is possible to compile ARIA from source code on Mac OSX 10.04 (Tiger) or later.

First install XCode, then install the command line development tools:

1. Run XCode
2. Open "Preferences..." from the "XCode" application menu
3. Select the "Downloads" tab
4. Select "Command Line Tools"
5. Click "Install" button for Command Line Tools.

Now you can build ARIA by running the "make" command inside the unpacked ARIA source code directory from Terminal.

When running programs using the ARIA shared library, the "lib" directory containing the shared library (.so file) must be in your DYLD_LIBRARY_PATH. For example, if you unpacked ARIA-2.9.4.tgz in you home directory and compiled ARIA, then use this command: export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:~/Aria-2.9.4/lib

If you are new to C++ programming, the definitive guide is Bjarne Stroustrup's book "The C++ Programming Language". The book "C++ In a Nutshell", published by O'Reilly & Associates, is a good quick guide and reference. There are also several websites and many other books about C++. You can search Stack Overflow http://www.stackoverflow.com and other question-answer sites, or ask new questions if your question has not previously been asked and answered.

Even though ARIA was written in C++, it is possible to use ARIA from the Java and Python programming languages as well. The directories 'python' and 'java' contain Python and Java packages automatically generated by the 'swig' tool (http://www.swig.org) which mirror the ARIA API closely, and are "wrappers" around the native ARIA library: When you call an ARIA function in a Python or Java program, the wrapper re-marshalls the function arguments and makes the equivalent call into the C++ ARIA library. See the 'pythonExamples' and 'javaExamples' directories for more information and example programs. See the ARIA API Reference Manual in 'docs' for some more information.

More about the Python programming language is at http://www.python.org. More about the Java programming language is at http://java.sun.com.

As of ARIA 2.8, it is possible to use a small but essential subset of ARIA features from Matlab and Simulink. This is done via MEX functions and a pure-C wrapper library called ariac. Matlab functions and Simulink blocks are provided for essential robot operation such as velocity control, receiving position estimate and other basic information. New functions can be added to this interface using the already-implemented functions as examples.

See matlab/README.md for details.

See ArNetworking/matlab/README.md for details on sending commands to an ArNetworking server from Matlab.

SRIsim is no longer included with ARIA. There is now a seperately downloadable MobileSim simulator at our support webpage http://robots.mobilerobots.com. MobileSim is compatible with SRISim, but adds many new features.

Adept MobileRobots 10 Columbia Drive Amherst, NH, 03031. USA

[email protected] http://robots.mobilerobots.com http://www.mobilerobots.com

Version 2.9.4

Don't forget to sign up for the Aria-Users mailing list by sending a message with the subject 'subscribe' to [email protected].

ARIA software development is supported on Windows using MS Visual C++, and on GNU/Linux using GNU development tools (make, GCC). It is possible to build ARIA on other Posix/Unix-like systems but this is not officially supported or as frequently tested as Linux and Windows. You can discuss use of ARIA on other operating systems or build environments on the aria-users group mailing list.

See README.txt for more information.

Run Aria-2.9.4.exe to invoke the setup program, then simply follow the prompts. All ARIA software will be installed in C:\Program Files\MobileRobots\Aria. Shortcuts will be installed in the Start menu to documentation, examples, and the Aria directory.

The kit includes the Aria library and two pre-built examples that you can run from the bin directory. More examples are available in the examples directory. Visual C++ projects are provided to build (most) example programs, as well as for ARIA itself.

In order to compile ARIA and the examples, you should use Microsoft Visual C++. Free "Express" versions are available from Microsoft. For more information see also http://robots.mobilerobots.com/wiki/Windows_C%2B%2B_Compilers

See README.txt and the ARIA API Reference documentation for important details on how to build code on Windows vith Visual C++ and get started using ARIA.

To use the precompiled Aria library under Linux, you will need GCC (with the C++ compiler, g++) and Make. The ARIA Ubuntu packages come built with the standard GCC version for their distribution platform (Indicated in the package file name). If you would like to rebuild them with a different compiler or version, run "make clean; make" from the top level /usr/local/Aria directory, or use the source package.

You can set environment variables to affect compilation with make, such as CXX and CXXFLAGS (see README.txt). For example, if you want to use the command "g++-3.4" to compile, set CXX to g++-3.4 and export the variable. See README.txt for more discussion of this.

The ARIA and ArNetworking libraries and some pre-built examples are included in the Ubuntu packages. You can run these examples and find more examples in the examples directory. All ARIA software is placed in /usr/local/Aria.
In addition, the file /etc/Aria will be created with the ARIA installation location, and /etc/ld.so.conf may be updated to include /usr/local/Aria/lib.

Binary (pre-built) packages are available for Ubuntu 12 and later.

The libaria package provides libArNetworking as well as libAria, and all documentation, source code, and example programs. libaria-python and libaria-java provide the Python and Java wrapper libraries respectively.

To install a .deb package file downloaded from the website, use dpkg. For example: dpkg -i libaria_2.9.4+ubuntu12_i386.deb

Both 32-bit and 64-bit packages are provided. If you are on a 32-bit operating system, use the package with "_i386" suffix. If you are on a 64-bit system, use the package with "_amd64" suffix. To check the architecture of your Debian or Ubuntu system, run the following command: dpkg-architecture -qDEB_HOST_ARCH Or open the System Settings GUI, and open Details. The architecture will be listed as "OS type".

Aria will be installed in /usr/local/Aria.

You can install any required dependencies using apt-get, aptitude, synaptic, or the Ubuntu Software Center.

To uninstall the ARIA libraries, use 'apt-get remove libaria'. Any packages that depend on libaria will also be removed.

You may download the source code as a compressed 'tar' or Zip archive and compile Aria yourself (See README.txt for notes about compiling the source).

Unpack the .tar.gz archive: tar xzvf ARIA-src-2.9.4.tgz

Enter the new directory, and use make to build ARIA: cd Aria-src-2.9.4 make

Or if you are on a multicore or multiprocessor computer, build with multiple processes in parallel: make -j4

To also make the ArNetworking librarie: cd ArNetworking make

To install Aria, become the root user and use make install: sudo make install

Aria will be installed in /usr/local/Aria. The dynamic (shared) libraries are in /usr/local/Aria/lib and the header files are in /usr/local/Aria/include and /usr/local/Aria/ArNetworking/include.

It is possible to build static libraries instead. From the Aria directory, run: make lib/libAria.a make lib/libArNetworking.a cd examples make demoStatic

Next, you will then need to tell the dynamic linker where to find the ARIA libraries: For example, on Linux, either add "/usr/local/Aria/lib" to /etc/ld.so.conf for permanent effect, or add it to the LD_LIBRARY_PATH environment variable for temporary effect. On Mac OSX, add the lib directory to DYLD_LIBRARY_PATH environment variable. Other platforms will need other similar settings either in the OS or your application project to locate the ARIA libraries.

The ARIA libraries depend require only the following standard Linux system libraries on Linux-based systems: libpthread, libdl 2, librt 1, libm 6, libc 6, libstdc++ 6.

To compile ARIA, you will need GCC, G++ and GNU Make.

These are all standard system libraries and development tools, so on most current systems you should not need to install anything extra to compile and use ARIA (other than g++ and make if not yet installed.)

There is some support in ARIA for compiling on Mac OSX and MinGW, but this is not regularly tested and verified. Contact the aria-users forum for work with other users on supporting these and any other platforms.

For documentation and information about using ARIA and ArNetwtorking, refer to README.txt, the ARIA reference manual at doc/index.html, and the ArNetworking reference manual at ArNetworking/doc/index.html. Information is also available on the support website http://robots.mobilerobots.com .

Adept MobileRobots [email protected] http://www.mobilerobots.com http://robots.mobilerobots.com