Supported devices

The following tables list the hardware and software systems that are supported by Player.

These tables should generally be up to date with respect to the current code in CVS, and thus may be newer than the latest official release. Also check the Drivers list.

Please post additions and corrections to these tables to our developers' mailing list.

Robots

Manufacturer Device(s)

Driver

Acroname Garcia

garcia

Botrics Obot d100

obot

Evolution Robotics ER1 and ERSDK robots

er1

iRobot Roomba vaccuming robot

roomba

K-Team Robotics Extension Board (REB) attached to Kameleon 376BC

reb

K-Team Khephera

khepera

MobileRobots (formerly ActivMedia) PSOS/P2OS/AROS-based robots (e.g., Pioneer, AmigoBot) and integrated accessories, including a CMUcam connected to the AUX port.

p2os

Nomadics NOMAD200 (and possibly related) mobile robots

nomad

RWI/iRobot RFLEX-based robots (e.g., B21r, ATRV Jr) and integrated accessories.

rflex

Segway Robotic Mobility Platform (RMP), a custom-modified version of the Human Transport (HT)

segwayrmp

UPenn GRASP Clodbuster

clodbuster

Videre Design ERRATIC mobile robot platform

erratic

White Box Robotics 914 PC-BOT

wbr914

Miscellaneous hardware

Manufacturer Device(s)

Driver

Amtec PowerCube pan-tilt unit

amtecpowercube
amtecM5

Ascension Flock of Birds position tracker

flockofbirds

Canon VC-C4 pan-tilt-zoom camera

canonvcc4

Crossbow Mica2 / Mica2DOT mote sensor nodes

mica2

DirectedPerception PTU-D46 pan-tilt unit

ptu46

Garmin Geko 201 handheld GPS receiver (and most other NMEA-compliant GPS units)

garminnmea

Hokuyo URG laser range finder

hokuyo_aist

Inside Contactless M300/R300 2G RFID reader (13.56MHz)

insideM300

InterSense InertiaCube2 IMU

inertiacube2

MicroStrain 3DM-G IMU

microstrain3dmg

Logitech QuickCam Sphere pan-tilt-zoom camera

sphere

SICK LMS 200 laser range-finder (and possibly other SICK lasers)

sickLDMRS, sicklms200, sicklms400, sicks3000, sicknav200, gbxsickacfr

SkyeTek M1/M1-mini RFID readers (13.56MHz)

skyetekM1

Sony EVID30 and EVID100 pan-tilt-zoom cameras

sonyevid30

TeCo Particle Router Core (XBridge) sensor node

rcore_xbridge

XSens Mtx / Mti inertial measurement unit

xsensmt

Various (licensed by CMU) CMUcam2 pan-tilt blob-tracking camera

cmucam2

Various Generic Linux wireless hardware. Provides access, via /proc, to info about the wireless hardware (e.g., signal quality).

linuxwifi

Various Generic Linux wireless hardware. Provides access, via iwspy, to info about the wireless hardware (e.g., signal quality).

iwspy

Various IEEE1394 (aka Firewire) cameras

camera1394

Various Cameras supported by Video4Linux

camerav4l

Various Generic Linux joystick. Allows access to axis and button state.

linuxjoystick

Miscellaneous software

Manufacturer Device(s)

Driver

Jim Bruce Color Machine Vision (CMVision) blob-tracking software

cmvision

MobileRobots (formerly ActivMedia); written by Paul Rybski ActivMedia Color Tracking System (ACTS) blob-tracking software

acts

MIT / LIRA-Lab YARP image capture

yarpimage

The Centre for Speech Technology Research, University of Edinburgh Festival speech-synthesis software

festival

Speech at CMU Sphinx2 speech-recognition software

sphinx2

Porchdog Software Howl Zeroconf networking library service_adv_mdns

Algorithms

Algorithm(s) Description References

Driver

Nearness Diagram (ND) Navigation goal-seeking obstacle-avoidance, especially suited for non-holonomic, non-circular robots in tight spaces Minguez & Montano (2004), Nearness Diagram Navigation (ND): Collision Avoidance in Troublesome Scenarios
Minguez, Osuna, & Montano (2004), A Divide and Conquer Strategy based on Situations to Achieve Reactive Collision Avoidance in Troublesome Scenarios.

nd

configuration space Modulates raw laser data according to the robot's dimensions in order to represent the empty area in the robot's configuration space.

lasercspace

Vector Field Histogram (VFH+) goal-seeking obstacle avoidance algorithm Ulrich & Borenstein (1998), "VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots"

vfh

Adaptive Monte Carlo Localization (AMCL) Performs probabilistic localization for a planar mobile robot equipped with a map and appropriate sensors Fox (2001), KLD-Sampling: Adaptive Particle Filters

amcl

Wavefront propagation planner Performs configuration-space path-planning for a planar robot via cell decomposition and wavefront propagation. Latombe (1991), Robot Motion Planning wavefront

Simulators

Manufacturer Name Description

Driver(s)

The Player/Stage/Gazebo project Gazebo A 3-dimensional multi-robot simulator

gazebo

The Player/Stage/Gazebo project Stage A 2-dimensional multi-robot simulator

stage


Last updated 12 September 2005 21:38:45