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An Introduction To Player-Stage

This document provides an introduction to the Player-Stage platform for simulating and controlling robots. It discusses installing Player-Stage, what Player and Stage are, the different file types used, how to write code for simulation, and gives examples of simulation demos. Player is a server that communicates with robots, Stage simulates robots and sensors in a 2D environment, and various file types like world, config, and include files are used to set up a simulation. Code is written and compiled to control the simulated robots.

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Senthilkumar B
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39 views12 pages

An Introduction To Player-Stage

This document provides an introduction to the Player-Stage platform for simulating and controlling robots. It discusses installing Player-Stage, what Player and Stage are, the different file types used, how to write code for simulation, and gives examples of simulation demos. Player is a server that communicates with robots, Stage simulates robots and sensors in a 2D environment, and various file types like world, config, and include files are used to set up a simulation. Code is written and compiled to control the simulated robots.

Uploaded by

Senthilkumar B
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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An Introduction to Player-Stage

Sarat Chandra. N, Ph.D. Scholar


QIP Workshop on
Motion planning and coordination of autonomous robots,
7th May-11th May 2012, IIT Bombay
Outline
 Intro to Player-Stage Project
 Installation
 What is Player?
 What is Stage?
 Different Types of Files
 Writing your own code and Compilation
 Simulation Demo
 Queries
Introduction
 A platform to simulate and control your robot's sensors and
behavior.
 A High-quality Open Source tool for robotics researchers.
 Client- Server Based implementation
 Accurate enough to carry out the real time robotic tasks by
writing suitable control algorithms.
 Allows the user to have the complete control over the
simulation as well as the physical robot system.
 Gazebo 3D Simulation tool and OpenCV provides a real time
vision sensor based simulation and control.
Installation
 Supports all Operating Systems,
 Ubuntu (11.04 - Naughty Narwhal)
 sudo apt-get install robot-player stage
 Mac OS X (Leopard) and other
 Macports
 sudo port install playerstage-player playerstage-stage
 Windows XP/Vista/Windows 7
 Create your own VM
 Install Cygwin and proceed with the basic linux installation
 Other
 Compile from source (playerstage.sf.net)
 Refer to http://playerstage.sourceforge.net/doc/doc.html for
the other installation help and project supported documents.
What is Player?
• Player is a server, that receives and sends standard messages
to and from your client and robot.
• Hardware abstraction layer for robots.
• Implements a client/server model.
• Communication over TCP sockets using the Player protocol.
• Officially supported client libraries:
– C, C++, Python
• Unofficially supported client libraries:
– Java, Matlab
What is Stage?
 Simulates mobile robots, sensors and objects on 2-D
bitmapped environment
 Control models via Player
 Simulated hardware appear as their real counterparts
 Easy transition between simulation and real world
 Supports a wide range of devices:
 Supports robots like Pioneer, Roomba etc
 Sensors: laser, sonar, ultra sonic etc.
 Supports camera and vision sensors using Open CV library.
Stage Window
Different Types of Files
 Three basic files and a control file are needed to simulate in
Player/Stage,
1) .world file
2) .cfg file
3) .inc file
4) Control Algorithm (written in C, C++, Python etc.)
Writing the Code & Compilation
How to write,
 A configuration file (*.cfg)
 A world file (*.world)
 An include file (*.inc)
 Control file (*.c or *.cc or python script)

 Compilation:
g++ -o program1 `pkg-config –cflags playerc++`
program1.cc `pkg- config –libs playerc++`
Simulation Demo

 Demo 1: Random movement of a robot in a closed indoor


environment.
 Demo 2: Pure pursuit control law implementation
 Demo 3: All the robots following a line
Queries
Thank You

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