Note, an option will be available only in programs that instantiate an object of the class that uses it. Some programs may also check for program-specific command line options.
Use the special "-help" command line option to cause a program to print out its available options.
A list of options used by each class follows.
Options for ArRobotConnector (see docs for more details):
Robot options: -remoteHost <remotehostnameorip> -rh <remotehostnameorip> -robotPort <robotserialport> -rp <robotserialport> -robotBaud <baud> -rb <baud> -remoteRobotTcpPort <remoterobottcpport> -rrtp <remoterobottcpport> -remoteIsSim -ris -robotLogPacketsReceived -rlpr -robotLogPacketsSent -rlps -robotLogMovementReceived -rlmr -robotLogMovementSent -rlms -robotLogVelocitiesReceived -rlvr -robotLogActions -rla
Laser types and options may also be set in the robot parameter file. See the ARIA reference documentation for details.
If a program supports multiple lasers, then options for additional lasers after the first are given by appending the laser number (e.g. -laserType2) To enable use of a laser, choose its type with the -laserType<n> options (e.g.: -laserType lms2xx -laserType2 urg)
The default laser type for the primary laser (laser 1) is "lms2xx".
Instruct a program to connect to a laser using the -connectLaser<n> option; if a program requires use of a laser it usually always attempts to connect to the primary laser, however.
The index number is optional in options for the primary laser (laser 1).
For laser type "lms2xx":
-laserPort <laserport> -lp <laserport> -laserPortType <serial|tcp> -lpt <serial|tcp> -remoteLaserTcpPort <remotelasertcpport> -rltp <remotelasertcpport> -laserFlipped <true|false> -lf <true|false> -laserMaxRange <maxrange> -lmr <maxrange> <maxrange> is an unsigned int less than 32000 -laserDegrees <100|180> -ld <100|180> -laserIncrement <half|one> -li <half|one> -laserUnits <1mm|1cm|10cm> -lu <1mm|1cm|10cm> -laserReflectorBits <1ref|2ref|3ref> -lrb <1ref|2ref|3ref> -laserPowerControlled <true|false> -lpc <true|false> -laserStartingBaud <9600|19200|38400> -lsb <9600|19200|38400> -laserAutoBaud <9600|19200|38400> -lab <9600|19200|38400> -laserAdditionalIgnoreReadings <readings> -lair <readings> <readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
For laser type "urg":
-laserPort <laserport> -lp <laserport> -laserPortType <serial|tcp> -lpt <serial|tcp> -remoteLaserTcpPort <remotelasertcpport> -rltp <remotelasertcpport> -laserFlipped <true|false> -lf <true|false> -laserMaxRange <maxrange> -lmr <maxrange> <maxrange> is an unsigned int less than 4095 -laserDegreesStart <startangle> -lds <startangle> <startangle> is a double between -135 and 135 -laserDegreesEnd <endangle> -lde <endangle> <endangle> is a double between -135 and 135 -laserIncrementByDegrees <incrementbydegrees> -libd <incrementbydegrees> <incrementbydegrees> is a double between 0 and 135 -laserStartingBaud <019200|057600|115200|250000|500000|750000> -lsb <019200|057600|115200|250000|500000|750000> -laserAutoBaud <019200|057600|115200|250000|500000|750000> -lab <019200|057600|115200|250000|500000|750000> -laserAdditionalIgnoreReadings <readings> -lair <readings> <readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
GPS options: -gpsType <standard|novatel|novatelspan|trimble> Select GPS device type (default: standard) -gpsPort <gpsserialport> Use the given serial port (default: /dev/ttyS1) -gpsBaud <gpsserialbaudrate> Use the given serial Baud rate (default: 9600) -remoteGpsTcpHost <host> Use a TCP connection instead of serial, and connect to remote host <host> -remoteGpsTcpPort <host> Use the given port number for TCP connection, if using TCP. (default 8103)
Compass options: -compassType <robot|serialTCM> Select compass device type (default: robot) -compassPort <port> Serial port for "serialTCM" type compass. (default: /dev/ttyS3)