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Player/Stage project
Autonomy Laboratory
Simon Frazer University
Vancouver, British Columbia, Canada
Robotics Research Laboratory
University of Southern California
Los Angeles, California, USA
Robotics Laboratory
Stanford University
Stanford, California, USA
Stage
Version 1.3.3 User Manual
(compatible with Player 1.4rc2)
Richard T. Vaughan
Andrew Howard
Brian P. Gerkey
This document may not contain the most current documentation on
Stage. For the latest documentation, consult the Player/Stage homepage:
http://playerstage.sourceforge.net
December 7, 2003
Contents
1. Introduction
1.1 What is Stage?
1.2 How to get Stage and related software
1.3 What's in the Package?
1.4 Requirements
1.5 Ownership
1.6 Bugs and feedback
1.7 What happened to...?
1.8 Citations
1.9 Acknowledgements
2. Running Stage
2.1 Building and Installing Stage
2.2 Running Stage
2.3 The World File
2.4 Command Line Arguments
2.5 Controlling the robots
2.6 Starting and Stopping the clock
3. Using the Stage GUI
3.1 World view
3.1.1 Mouse
Clicks on the background
Clicks on entities
3.1.2 Keyboard
Clicks on entities
3.2 Menu
3.2.1 File Menu
3.2.2 View Menu
3.2.3 Action Menu
4. The World File
4.1 Basic Syntax
4.2 Defining new entity types
4.3 Using include files
4.4 Units
4.5 Examples
5. Entity Reference
5.1 Properties and the type heirarchy
5.2 Object Summary
5.2.1 The
entity
base type
Parent
Description
Properties
Defaults
5.2.2 The
box
object
Parent
Description
Properties
Defaults
5.2.3 The
bitmap
object
Parent
Description
Properties
Defaults
Notes
5.2.4 The
puck
object
Parent
Description
Properties
Defaults
5.3 Device Summary
5.3.1 The generic
device
type
Parent
Interface
Description
Properties
Defaults
5.3.1.1 Notes
5.3.2 The
broadcast
device
Parent
Interface
Description
Properties
Defaults
5.3.3 The
gps
device (
disabled
)
Parent
Interface
Description
Properties
Defaults
5.3.4 The
idar
device
Parent
Interface
Description
Properties
Defaults
5.3.5 The
idarturret
device
Parent
Interface
Description
Properties
Defaults
5.3.6 The
gripper
device
Parent
Interface
Description
Properties
Defaults
5.3.7 The
laser
device
Parent
Interface
Description
Properties
Defaults
5.3.8 The
fiducialfinder
device
Parent
Interface
Description
Properties
Defaults
5.3.9 The
position
device
Parent
Interface
Description
Properties
Defaults
5.3.10 The
omniposition
device
Parent
Interface
Description
Properties
Defaults
5.3.11 The
ptz
device
Parent
Interface
Description
Properties
Defaults
5.3.12 The
sonar
device
Parent
Interface
Description
Properties
Defaults
Notes
5.3.13 The
truth
device
Parent
Interface
Description
Properties
Defaults
5.3.14 The
blobfinder
device
Parent
Interface
Description
Properties
Defaults
Bibliography
About this document ...
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Contents
2003-12-07