libstageplugin - Stage plugin driver for Player

libstageplugin is a plugin for Player that allows Player clients to access simulated robots as if they were normal Player devices.

Stage robots and sensors work like any other Player device: users write robot controllers and sensor algorithms as `clients' to the Player `server'. Typically, clients cannot tell the difference between the real robot devices and their simulated Stage equivalents (unless they try very hard). We have found that robot controllers developed as Player clients controlling Stage robots will work with little or no modification with the real robots and vice versa [1]. With a little care, the same binary program can often control Stage robots and real robots without even being recompiled [2]. Thus the Player/Stage system allows rapid prototyping of controllers destined for real robots. Stage can also be very useful by simulating populations of realistic robot devices you don't happen to own [3].

[References]

Player configuration file options

Configuration file examples:
Creating models in a Stage worldfile, saved as "example.world":

# create a position model - it can drive around like a robot
position
(
  pose [ 1 1 0 ]
  color "red"
  name "marvin"

  # add a laser scanner on top of the robot
  laser() 
)

Using Stage models in a Player config (.cfg) file:

# load the Stage plugin and create a world from a worldfile
driver
(		
  name "stage"
  provides ["simulation:0"]
  plugin "libstageplugin"

  # create the simulated world described by this worldfile
  worldfile "example.world"	
)

# create a position device, connected to a Stage position model 
driver
(
  name "stage"
  provides ["position:0" ]
  model "marvin"
)

# create a laser device, connected to a Stage laser model
driver
(
  name "stage"
  provides ["laser:0" ]
  model "marvin"
)

More examples can be found in the Stage source tree, in directory <stage-version>/worlds.

Authors
Richard Vaughan

Provides
The stage plugin driver provides the following device interfaces and configuration requests.

Blobfinder interface

Fiducial interface

Laser interface

Position interface

Simulation interface

Sonar interface

Generated on Thu Aug 11 13:08:10 2005 for Stage by  doxygen 1.4.0