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Player/Stage project
Robotics Laboratory
Stanford University
Stanford, California, USA
Robotics Research Laboratory
University of Southern California
Los Angeles, California, USA
Autonomy Laboratory
Simon Frazer University
Vancouver, British Columbia, Canada
Player
Version 1.5 User Manual
Brian P. Gerkey
Richard T. Vaughan
Andrew Howard
This document may not contain the most current documentation on
Player. For the latest documentation, visit the Player/Stage project online:
http://playerstage.sourceforge.net
June 2, 2004
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
Example of Player Operation
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
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
5.4.1 Header
5.4.2 Data Messages
5.4.3 Command Messages
5.4.4 Request Messages
5.4.5 Acknowledgement Response Messages
5.4.6 Synchronization Messages
5.4.7 Negative Acknowledgement Response Messages
5.4.8 Error Acknowledgement Response Messages
6. Device Interfaces
6.1 Player
Synopsis
Constants
Data
Commands
Configuration: Get device list
Configuration: Get driver name
Configuration: Request device access
Configuration: Request data
Configuration: Change data delivery mode
Configuration: Change data delivery frequency
Configuration: Authentication
6.2 null
Synopsis
6.3 aio
Synopsis
Constants
Data
Commands
6.4 audio
Synopsis
Data
Command
6.5 audiodsp
Synopsis
Data
Command
Configuration: get/set audio properties
6.6 audiomixer
Synopsis
Configuration: get levels
Command
6.7 blobfinder
Synopsis
Data
Configuration: Set tracking color
Configuration: Set imager params
Command
6.8 bumper
Constants
Data
Commands
Configuration: Query geometry
6.9 comms
Synopsis
Data
Command
6.10 camera
Synopsis
Data
6.11 dio
Synopsis
Data
Commands
6.12 fiducial
Synopsis
Constants
Data
Command
Configuration: get geometry
Configuration: sensor field of view
Configuration: fiducial messaging.
6.13 gps
Synopsis
Data
Commands
6.14 gripper
Synopsis
Data
Commands
6.15 ir
Synopsis
Constants
Data
Commands
Configuration: Query pose
Configuration: IR power
6.16 laser
Synopsis
Constants
Data
Command
Configuration: get geometry
Configuration: get/set scan properties
6.17 localize
Synopsis
Constants
Data
Commands
Configuration: Set the robot pose estimate
Configuration: Get/Set configuration
Configuration: Get map information
Configuration: Get map data
6.18 mcom
Synopsis
Constants
Data
Command
Configuration
6.19 position
Synopsis
Constants
Data
Commands
Configuration: Query geometry
Configuration: Motor power
Configuration: Change velocity control
Configuration: Reset odometry
Configuration: Change position control
Configuration: Set odometry
Configuration: Set velocity PID parameters
Configuration: Set position PID parameters
Configuration: Set speed profile parameters
Configuration: Segway RMP-specific configuration
6.20 position3d
Synopsis
Constants
Data
Commands
Configuration: Motor power
6.21 power
Synopsis
Constants
Data
Commands
Configuration: Request power
6.22 ptz
Synopsis
Constants
Data
Command
Configuration: Set/Get unit-specific config
Configuration: Change control mode
6.23 sonar
Synopsis
Constants
Data
Commands
Configuration: Query geometry
Configuration: Sonar power
6.24 sound
Synopsis
Data
Commands
6.25 speech
Synopsis
Constants
Data
Command
6.26 truth
Synopsis
Constants
Data
Commands
Configuration: Get/set pose
Configuration: Get/set fiducial ID number
6.27 waveform
Synopsis
Data
6.28 wifi
Synopsis
Constants
Data
Commands
7. Device Drivers
7.1
acts
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.2
acoustics
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.3
amcl
Authors
Synopsis
Caveats
Interfaces
Configuration file options
Notes
Example: Using the
amcl
driver with a Pioneer robot
Example: Using the
amcl
driver with Stage
Example: Using WiFi signal strength
7.4
amtecpowercube
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.5
cmucam2
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.6
cmvision
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.7
er1_position
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.8
festival
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.9
fixedtones
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.10
flockofbirds
Authors
Synopsis
Interfaces
Configuration file options
7.11
garminnmea
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.12
gz_camera
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.13
gz_gripper
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.14
gz_laser
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.15
gz_position
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.16
gz_position3d
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.17
gz_power
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.18
gz_ptz
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.19
gz_sonar
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.20
gz_truth
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.21
khepera
Authors
Synopsis
Interfaces / Configuration requests
Configuration file options
7.22
lasercspace
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.23
laserbar
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.24
laserbarcode
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.25
laservisualbarcode
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.26
lifo-mcom
Authors
Synopsis
Interfaces
Configuration file options
7.27
linuxwifi
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.28
mixer
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.29
nomad
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.30
p2os
Authors
Synopsis
Interfaces / Configuration requests
Configuration file options
Notes
7.31
passthrough
Authors
Synopsis
Interfaces
Configuration file options
Example: Controlling multiple robots through a single connection
Example: Shifting computation
Example: Using the
adaptive_mcl
driver with Stage
7.32
ptu46
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.33
reb
Authors
Synopsis
Interfaces / Configuration requests
Configuration file options
Notes
7.34
rflex
Authors
Synopsis
Interfaces / Configuration requests
Configuration file options
rflex_position
rflex_sonar
rflex_bumper
rflex_ir
rflex_power
Notes
7.35
rwi
Authors
Synopsis
Interfaces / Configuration requests
Configuration file options
7.36
readlog
Authors
Synopsis
Interfaces
Configuration file options
Example: Replay Odometry and Laser Data
Example: Post-hoc Localization
7.37
segwayrmp
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.38
serviceadv-lsd
Authors
Synopsis
Interfaces
Configuration file options
7.39
sicklms200
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.40
sickpls
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.41
sonyevid30
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.42
trogdor
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.43
udpbroadcast
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.44
upcbarcode
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.45
vfh
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.46
waveaudio
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.47
wavefront
Authors
Synopsis
Interfaces
Configuration file options
Notes
7.48
writelog
Authors
Synopsis
Interfaces
Configuration file options
Example: Storing Odometry and Laser Data
8. Architecture
8.1 Server Structure
8.1.1 Device data
8.1.2 Device commands
8.1.3 Device configurations
8.2 Adding a new device driver
8.2.1 Constructors
8.2.2 Locking access to buffers
8.2.3 Instantiation
8.2.4 Setup
8.2.5 Shutdown
8.2.6 Thread management
8.2.7 Data access methods
8.2.7.1 PutData
8.2.7.2 GetNumData
8.2.7.3 GetData
8.2.8 Command access methods
8.2.8.1 PutCommand
8.2.8.2 GetCommand
8.2.9 Configuration access methods
8.2.9.1 PutConfig
8.2.9.2 GetConfig
8.2.9.3 PutReply
8.2.9.4 GetReply
8.2.10 Registering your device
8.2.11 Compiling your device
8.2.12 Building a shared library
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
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2004-06-02