BeeSoft User's Guide and Reference BeeSoft Table of Contents
Chapter 1: Introduction to the BeeSoft™ User’s Guide
1.1 Copyright and Liability Information
1.2 Development Credits
1.3 Welcome to BeeSoft!
1.3.1 What Is BeeSoft™?
1.3.2 BeeSoft Architecture: The Servers
1.3.3 Bandwidth Constraints Under BeeSoft™
1.3.4 Other Important BeeSoft™ Considerations
1.4 Robot Diagrams
Chapter 2: BeeSoft™ Quick Startup Guide
2.1 Communicating with your Robot
2.1.1 Logging On
2.2 The BeeSoft File System
2.3 Starting Up the Servers and Sensors
2.3.1 Tactile Sensor Test
2.3.2 Sonar Sensor Test
2.3.3 Infrared Sensor Test
2.4 Making Your Robot Move
2.4.1 Running wander - A Simple Robot Demo
2.4.2 colliServer -- The Collision Avoidance Package
2.5 Controlling Your Robot with the Joystick
2.6 Writing Your First Robot Program
2.7 BeeSoft™ Utilities and Example Applications
2.7.1 The BeeSoft Commander™
2.7.2 The BeeSoft Simulator™
2.7.3 The BeeSoft Planner™
Chapter 3: Robot Programming
3.1 What’s Different About Robot Programming?
3.2 The BeeSoft™ Parameter Structure
3.2.1 Parameter File Commands
3.2.2 String Handling in the Parameters Structure
3.3 BeeSoft In Action - A Simple Robot Scenario
3.4 Designing a BeeSoft Program
3.5 Using the BeeSoft Scheduler
3.6 Callbacks
3.7 Special Considerations in BeeSoft Programming
3.8 Writing A Simple BeeSoft™ Program
3.9 The wander Application: A BeeSoft™ Demo
3.10 The BeeSoft Scheduler’s API
3.10.1 BeeSoft Scheduler API - General Calls
3.10.2 BeeSoft Scheduler API - Utility Function Calls
3.10.3 BeeSoft Scheduler API - Time Structure Macros
3.11 Debugging With the BeeSoft Scheduler
3.12 Profiling With the BeeSoft Scheduler
Chapter 4: Making the Robot Move
4.1 Overview - The Robot Base
4.2 Using baseServer - Non-Guarded Motion
4.2.1 Initializing the Base and starting baseServer
4.2.2 Moving the Base with baseServer
4.2.3 Odometry and Related Commands
4.2.4 Base Rotation Commands
4.2.5 Base Translation Commands
4.2.6 Translation-plus-Rotation Commands
4.2.7 Indexing
4.3 Getting Data From the Robot Base
4.4 The Base Watchdog Timer
4.5 Using colliServer for Guarded Motion
4.5.1 The colliServer Parameter File
4.5.2 colliServer Commands: Init and StartUp
4.5.3 colliServer Commands: Controlling the Robot
4.5.4 A Sample colliServer Program
Chapter 5: Robot Sensing
5.1 Sonar Sensors
5.2 Infrared Sensors
5.3 Tactile Sensors
5.4 Robot Position Control
Chapter 6: The BeeSoft Simulator™
6.1 Starting the BeeSoft Simulator
6.2 Creating and Refining The Environment
6.3 Running wander in the Simulator Environment
6.4 Placing the Simulated Robot
6.5 Saving and Reading Map Files
Chapter 7: Looking Around: pantiltServer
7.1 Starting pantiltServer
7.2 Commands for Panning and Tilting
7.3 Commands for Setting Velocity and Acceleration
7.4 A Sample Program Using pantiltServer
Chapter 8: Your Robot Speaks!
8.1 Managing the speechServer
8.2 Sending a Message
8.3 Intonation, Speech Speed and Volume
Chapter 9: The BeeSoft Commander™ and Teleoperation
9.1 Starting Up the BeeSoft Commander™
9.2 The BeeSoft Commander™ Interface Display
9.3 Teleoperating Your Robot
Chapter 10: Building Maps - the BeeSoft Mapper™
10.1 Starting the BeeSoft Mapper™
10.2 Displaying Maps
Chapter 11: Going Autonomous: the BeeSoft Planner™
11.1 Starting the BeeSoft Planner™
11.2 Autonomous Goal-Directed Planning
11.3 Autonomous Exploring
Chapter 12: BeeSoft Installation and Administration
Chapter 13: A UNIX™ Primer
13.1 UNIX™ Concepts
13.2 UNIX™ Commands
Chapter 14: IrCal: Calibrating the InfraRed Sensors
14.1 The Calibration File
14.2 The IrCal Utility
Chapter 15: The ACCESS.bus and mspterm
Chapter 16: BeeSoft™ Glossary
Chapter 17: Support from Real World Interface, Inc.
