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Subsections

5.3 Device Summary

This table lists all of the devices (Player-controllable sensors and actuators) supported by Stage. See the Player User Manual for details of the physical devices and the interfaces used to access them. The Stage devices are described in detail on the following pages.

Type Parent type Description

device
entity A generic device type (has a port number, device index, etc).

broadcast
device Allows clients to communicate with one another through Stage/Player; messages sent to the broadcast device will be received by all other broadcast devices.

gps
device GPS receiver; disabled

gripper
device 1-DOF gripper (open/close).

laser
device Scanning laser range finder.

fiducialfinder
device Find fiducials (formerly Laser beacon detector).

position
device A bare-bones differential-drive mobile robot with odometry.

omniposition
device An omnidirectional mobile robot with odometry.

ptz
device Pan-tilt-zoom camera.

sonar
device Sonar range-finder array.

truth
device Thee truth device can be used to get and set the pose of entities in the simulator; setting the pose of a truth device will `teleport' the device's parent to a new location.

blobfinder
device Vision-based color blob detector (formerly visiondevice.

idar
device Infrared Data and Ranging device, based on the HRL Labs Pherobot main sensor.

idarturret
device Array of IDARs accessed together for efficiency.

5.3.1 The generic `device` type

Parent

<none>

Interface

<none>

Description

This is a base type for all device models. The properties are specify how the device is addressed through the Player interface.

Properties

Name	Values	Description
`port`	`int`	The port to which this device is attached; if not specified, the parent device's port will be used.
`index`	`int`	The index for this device; used to distinguish between multiple instances of the same type of device (on a single robot). Will generally be set to 0.

Defaults

Name	Value
`port`	`<6665 or inherited from parent>`
`index`	`0`

5.3.1.1 Notes

Typically the port is specified for the top-level device in each robot (usually a position device). Descendant devices inherit the port number. If you have more than one device of a given type on a robot, be sure to give them unique index numbers.

5.3.2 The `broadcast` device

Parent

device

Interface

comms

Description

The broadcast device allows clients to communicate with one another through Stage/Player; messages sent to one broadcast device will be received by all other broadcast devices.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.3 The `gps` device (disabled)

Parent

device

Interface

gps

Description

The gps is temporarily disabled, pending implementation of a proper GPS model, or at least one that returns GPS-style coordinates.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.4 The `idar` device

Parent

device

Interface

idar

Description

The idar device simulates the Infrared Data and Ranging sensor used by HRL Labs Pherobot. This device beams out short data strings which can be received by another IDAR, or by reflection from an obstacle. Received signal strength gives an approximate range.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`idar_return`	`"IDARReceive"`
`size`	`[0.03 0.02]`
`shape`	`"ShapeRect"`

5.3.5 The `idarturret` device

Parent

device

Interface

idarturret

Description

The idarturret device simulates an array of idar devices, combined for efficiency.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.6 The `gripper` device

Parent

device

Interface

gripper

Description

The gripper device simulates a 1-DOF gripper (i.e., the gripper can open and close), with inner and outer break beams.

Properties

Name	Values	Description
`consume`	`"true"` `"false"`	If `true`, the gripper will consume pucks, ie. they will disappear from the world; if `false`, the gripper can hold only one puck at a time and the puck will be dropped when the gripper opens.

Defaults

Name	Value
`consume`	`"true"`
`size`	`[0.08 0.3]`

5.3.7 The `laser` device

Parent

device

Interface

gps

Description

The laser device simulates a scaning laser range-finder with a 180^o field-of-view (the SICK LMS200 to be exact).

Properties

Name	Values	Description
`min_res`	`float`	The angular resolution of a range sample in degrees
`max_range`	`float`	The max range of a scan beam in meters

Defaults

Name	Value
`min_res`	`0.25`
`max_range`	`8.0`
`size`	`[0.155 0.155]`
`color`	`"blue"`

5.3.8 The `fiducialfinder` device

Parent

device

Interface

fiducial

Description

The fiducialfinder locates models that have their fiducial_id property set. It returns the identity, range, bearing and orientation of the detected fiducials. Currently a fiducialfinder device must be the child of a laser device, though this constraint will be relaxed in future releases.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.9 The `position` device

Parent

device

Interface

position

Description

The position device simulates a bare-bones differential-drive mobile robot.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.10 The `omniposition` device

Parent

device

Interface

position

Description

The omniposition device simulates an omnidirectional mobile robot base.

Properties

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

5.3.11 The `ptz` device

Parent

device

Interface

ptz

Description

The ptz device simulates a pan-tilt-zoom camera. This device has the following properties.

Properties

Name	Values	Description
`lens`	`"normal"` `"wide"`	Select lens type: either normal (60^o field-of-view) or wide (120^o field-of-view).

Defaults

Name	Value
`lens`	`"normal"`

5.3.12 The `sonar` device

Parent

device

Interface

gps

Description

The sonar device simulates an array of sonar range sensors.

Properties

Name	Values	Description
`scount`	`numsonars`	The number of sonar transducers.
`spose[i]`	`[x y th]`	The pose of each transducer number `i`.

Defaults

Name	Value
`scount`	`8`
`spose[0]`	`[0 0 0]`
`spose[1]`	`[0 0 45]`
`spose[2]`	`[0 0 90]`
`spose[3]`	`[0 0 135]`
`spose[4]`	`[0 0 180]`
`spose[5]`	`[0 0 225]`
`spose[6]`	`[0 0 270]`
`spose[7]`	`[0 0 315]`

Name	Values	Description
`<none>`

Defaults

Name	Value
`<none>`

Name	Values	Description
`channels`	`["color0" "color1" ...]`	The color detected by each channel in the vision device. Descriptive color names from the X11 color database should be used (e.g. `"red"` or `"blue"`). Look for `rgb.txt` in your X installation).

Defaults

Name	Value
`channels`	`["red" "green" "blue" "yellow" "cyan" "magenta"]`

Next: Bibliography Up: 5. Entity Reference Previous: 5.2 Object Summary Contents

2003-12-07

Type	Parent type	Description
`device`	`entity`	A generic device type (has a port number, device index, etc).
`broadcast`	`device`	Allows clients to communicate with one another through Stage/Player; messages sent to the broadcast device will be received by all other broadcast devices.
`gps`	`device`	GPS receiver; disabled
`gripper`	`device`	1-DOF gripper (open/close).
`laser`	`device`	Scanning laser range finder.
`fiducialfinder`	`device`	Find fiducials (formerly Laser beacon detector).
`position`	`device`	A bare-bones differential-drive mobile robot with odometry.
`omniposition`	`device`	An omnidirectional mobile robot with odometry.
`ptz`	`device`	Pan-tilt-zoom camera.
`sonar`	`device`	Sonar range-finder array.
`truth`	`device`	Thee truth device can be used to get and set the pose of entities in the simulator; setting the pose of a truth device will `teleport' the device's parent to a new location.
`blobfinder`	`device`	Vision-based color blob detector (formerly visiondevice.
`idar`	`device`	Infrared Data and Ranging device, based on the HRL Labs Pherobot main sensor.
`idarturret`	`device`	Array of IDARs accessed together for efficiency.