Stage plugin driver for Player
- Provides
- blobfinder
- (none)
- fiducial
- PLAYER_FIDUCIAL_GET_GEOM_REQ
- PLAYER_FIDUCIAL_SET_FOV_REQ
- PLAYER_FIDUCIAL_GET_FOV_REQ
- PLAYER_FIDUCIAL_SET_ID_REQ
- PLAYER_FIDUCIAL_GET_ID_REQ
- laser
- PLAYER_LASER_SET_CONFIG
- PLAYER_LASER_SET_CONFIG
- PLAYER_LASER_GET_GEOM
- position
- PLAYER_POSITION_SET_ODOM_REQ
- PLAYER_POSITION_RESET_ODOM_REQ
- PLAYER_POSITION_GET_GEOM_REQ
- PLAYER_POSITION_MOTOR_POWER_REQ
- PLAYER_POSITION_VELOCITY_MODE_REQ
- sonar
- PLAYER_SONAR_GET_GEOM_REQ
s- simulation
- (none)
- Player configuration file options
- model (string)
- where (string) is the name of a Stage position model that will be controlled by this interface. Stage will search the tree of models below the named model to find a device of the right type.
- Configuration file examples:
# create a position model - it can drive around like a robot position ( pose [ 1 1 0 ] color "red" name "marvin" # add a laser scanner on top of the robot laser() )
Using Stage models in a Player config (.cfg) file:
# load the Stage plugin and create a world from a worldfile driver ( name "stage" provides ["simulation:0"] plugin "libstageplugin" # create the simulated world described by this worldfile worldfile "example.world" ) # create a position device, connected to a Stage position model driver ( name "stage" provides ["position:0" ] model "marvin" ) # create a laser device, connected to a Stage laser model driver ( name "stage" provides ["laser:0" ] model "marvin" )
More examples can be found in the Stage source tree, in directory <stage-version>/worlds.
- Authors