Contents

• List of Figures
• List of Tables
• 0. Metadata
  • 0.1 How to Read this Manual
  • 0.2 A Note on Versions
  
  
• 1. Introduction
  • 1.1 License
  • 1.2 Description
  • 1.3 System Requirements
  • 1.4 Getting Player
  • 1.5 Bugs
  • 1.6 On the Name Player
  • 1.7 Acknowledgements
  • 1.8 Citations
  
  
• 2. Running Player
  • 2.1 Building and Installing Player
  • 2.2 Command Line Arguments
  • 2.3 Visualization tools
  
  
• 3. Device Overview
  • 3.1 Device access: data, command, configuration
  • 3.2 Interfaces vs. Drivers
  • 3.3 Supported Hardware & Software
  
  
• 4. Configuration Files
  • 4.1 Basic Syntax
  • 4.2 Defining new device types
  • 4.3 Using include files
  • 4.4 Units
  
  
• 5. Client/Server Protocol
  • 5.1 A Note on Data Types
  • 5.2 A Note on Time
  • 5.3 Connecting to the Server
  • 5.4 Message Formats
  
  
• 6. Device Interfaces
  • 6.1 Player
  • 6.2 null
  • 6.3 aio
  • 6.4 audio
  • 6.5 audiodsp
  • 6.6 audiomixer
  • 6.7 blobfinder
  • 6.8 bumper
  • 6.9 comms
  • 6.10 camera
  • 6.11 dio
  • 6.12 fiducial
  • 6.13 gps
  • 6.14 gripper
  • 6.15 ir
  • 6.16 laser
  • 6.17 localize
  • 6.18 mcom
  • 6.19 position
  • 6.20 position3d
  • 6.21 power
  • 6.22 ptz
  • 6.23 sonar
  • 6.24 sound
  • 6.25 speech
  • 6.26 truth
  • 6.27 waveform
  • 6.28 wifi
  
  
• 7. Device Drivers
  • 7.1 acts
  • 7.2 acoustics
  • 7.3 amcl
  • 7.4 amtecpowercube
  • 7.5 cmucam2
  • 7.6 cmvision
  • 7.7 er1_position
  • 7.8 festival
  • 7.9 fixedtones
  • 7.10 flockofbirds
  • 7.11 garminnmea
  • 7.12 gz_camera
  • 7.13 gz_gripper
  • 7.14 gz_laser
  • 7.15 gz_position
  • 7.16 gz_position3d
  • 7.17 gz_power
  • 7.18 gz_ptz
  • 7.19 gz_sonar
  • 7.20 gz_truth
  • 7.21 khepera
  • 7.22 lasercspace
  • 7.23 laserbar
  • 7.24 laserbarcode
  • 7.25 laservisualbarcode
  • 7.26 lifo-mcom
  • 7.27 linuxwifi
  • 7.28 mixer
  • 7.29 nomad
  • 7.30 p2os
  • 7.31 passthrough
  • 7.32 ptu46
  • 7.33 reb
  • 7.34 rflex
  • 7.35 rwi
  • 7.36 readlog
  • 7.37 segwayrmp
  • 7.38 serviceadv-lsd
  • 7.39 sicklms200
  • 7.40 sickpls
  • 7.41 sonyevid30
  • 7.42 trogdor
  • 7.43 udpbroadcast
  • 7.44 upcbarcode
  • 7.45 vfh
  • 7.46 waveaudio
  • 7.47 wavefront
  • 7.48 writelog
  
  
• 8. Architecture
  • 8.1 Server Structure
  • 8.2 Adding a new device driver
  
  
• Bibliography
• A. The C Client Interface
  • A.1 Debug Information
  • A.2 Connecting to the Server
  • A.3 Requesting Device Access
  • A.4 Reading Data
  • A.5 Writing Commands
  • A.6 Requesting Configuration Changes
  • A.7 Disconnecting from the Server