Player/Stage
Look through the Player website first and understand the basic device communications, Stage is just a simulator to visualize Player
Player Custom Driver
Many companies have written a driver to interface the robot hardware to Player , RAS could potentially add this capability with some sweeping changes to structure
- Benefits
- Well Tested Messaging and Configuration File management system
- Drivers built for a wide variety of sensors (i.e. GPS, IMU , laser and so forth)
- This needs to be tested for at least our IMU and GPS before due to previous experience with conflicts
- We could easily port our control code to different hardware platforms,
- Disadvantages
- Confusing and complicated base code
- The project is constrained mainly for linux (this might actually be a benefit)
- Doing simple tasks can take more time because of the overhead,
Running PlayerStage on RasDev?
- RasDev? is the development computer on the plasma screen,
- To run PlayerStage, if getting error , move libdc1394_control.so to libdc1394.so.20 ,
- To run Stage, run player /usr/local/share/stage/worlds/simple.cfg
- Run Player, run C++ code on /usr/local/share/player/examples/libplayerc++/<input file>
Good Reference Material
Player Stage has withstood the test of time with many updates over the years, using their structure layout as a reference is generally a good idea,
