Release Notes

Version 3.0.0

TODO

Richard Vaughan (rtv) vaughan@sfu.ca

Version 2.0.1

This is mainly a bugfix and performance-enhancement release. This release requires Player-2.0.1, released simultaneously.

The only major new feature is the addition of support for Player's speech interface: speech bubbles show the text being "spoken" by each robot. The text is rendered using Pango, so non-Roman alphabets are supported.

Richard Vaughan (rtv) vaughan@sfu.ca 2006.3.24

Version 2.0.0

This is a major new release of Stage, and is intended to replace all previous versions. It requires Player-2.0.0 or later.

Please report bugs to the tracker and let us know what you do with Stage.

Richard Vaughan (rtv) vaughan@sfu.ca 2006.2.26

New Features

Significant user-level changes include:

• Stage is now implemented as the C library libstage. Using libstage, your programs can include a sophisticated robot simulator with a few lines of code. The Player plugin libstageplugin is a wrapper for libstage that provides simulation services to Player. Player with libstageplugin is the Player/Stage system.

• Player clients can draw directly in the Stage window using the graphics2d interface. libstage programs can use the internal user graphics API.

• Configurable odometry error in position model

• Gripper model that can pick up anything. Any object can be made grippable/pushable by setting the the gripper_return property.

• Pan-tilt-zoom (PTZ) model.

• More and improved visualizations, including models leaving trails over time

• Any object can now have its shape specified by a bitmap file (JPG, PNG, etc.).

• Worldfile syntax has changed slightly, so you may need to edit your existing worlds to get them to work. Look at the example worlds in (stage src)/worlds to get the idea.

• Worlds can be very large (thousands of meters square).

Version 1.6.1

This is a bug-fix release that replaces 1.6.0.

• Fixes several GUI bugs, including the [View/Fill Polygons] menu item.

• Some code clean-up and thread-safety fixes

Version 1.6.0

This release of Stage is the first after a major rewrite. There are bound to be bugs and teething troubles, but the Autonomy Lab has been using this code for serious work for a few months now and we think it's useful and usable.

Significant changes visible to the user

1. Stage is now a Player plugin, instead of an executable. The key benefit of this is that all Player drivers are now available for use directly with Stage, including sophisticated drivers like AMCL, without needing passthrough drivers.

2. Stage depends on Player 1.6 or newer.

3. Worldfile syntax has a changed, so you need to edit your existing worlds to get them to work. Look at the example worlds in (stage src)/worlds to get the idea.

4. Any object can now have its shape specified by a bitmap file

5. Several bitmap file formats are supported, using a third-party library. Load maps and robot bodies from JPG, PNG, etc. No more PNM troubles.

6. Worlds can now be very large (thousands of meters square).

7. Several models are missing from this release - notably the gripper and puck. These will be available soon. Meanwhile, enjoy the full power of Player with the basic laser, sonar, position, fiducial and blobfinder models.

8. Stage no longer depends on libRTK.

9. Some models from previous versions may not yet be available in this release (e.g. gripper & puck), but we're working on them. Let us know which ones you need.

Significant changes under the hood

1. The Stage simulation engine is now a library rather than an application. The library can be used to write custom robot simulations. This is very useful if you need to do synchronous control of robots (e.g for perfectly repeatable experiments), or dynamically create and destroy robots or other objects. You can't (yet) do this though Player. Refer to the libstage reference manual for the API and developer docs..

2. Stage is now mostly written in C. A simple object-oriented system allows one level of inheritance for writing polymorphic model code.

3. The underlying occupancy grid model has changed from a simple fixed-size array to a sparse array of (almost) unlimited size (implemented with a hash table). To compensate for the performance hit of raytracing in the hash table, a three-level multiple-resolution approach is used. Raytracing is now usually much faster than in Stage-1.3. To get an idea how this works, select the View/Debug/Raytrace menu item while a laser or ranger is producing data.

4. Most home-rolled data structures have been replaced by glib versions.