City College of New York 1 Player Stage Gazebo Rex Wong CCNY Robotic Lab A robotic research and...
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![Page 1: City College of New York 1 Player Stage Gazebo Rex Wong CCNY Robotic Lab A robotic research and development environment.](https://reader036.fdocuments.net/reader036/viewer/2022062304/56649f295503460f94c41db0/html5/thumbnails/1.jpg)
1City College of New York
Player Stage Gazebo
Rex Wong
CCNY Robotic Lab
A robotic research and development environment
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2City College of New York
What are the components?
• Player (installed on robots or remote computers)– Device server that provides a powerful, flexible
interface to a variety of sensors and actuators
• Stage (installed on remote computers only)– 2D, multi-robot simulator – Large number of robots or sensors
• Gazebo (installed on remote computers only)– 3D, dynamic, multi-robot simulator – few number of robots or sensors
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3City College of New York
Robot Programming
SerialCanbus
…
Camera
Laser
Sonar
Odometry
Motors
User Program
SensoryData
Acquisition
MotorCommandGeneration
PCI
USB
Serial
…Planner
DesiredMotion
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4City College of New York
Player: a device server
SerialCanbus
…
PlayerCamera
Laser
Sonar
Odometry
Motors
User Program
SensoryData
Acquisition
MotorCommandGeneration
PCI
USB
Serial
…Planner
DesiredMotion
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5City College of New York
Client / Server Model
Player Server
Device driver Interface
PlayerClient
Library
C/C++C#JavaTcl
PythonRubyLisp
Octave
SICKLMS 200
Pioneer
SICKPLS
Segway
Khepera
sicklms200
sickpls
p2os
segwayrmp
khepera
laser
laser
position
position
position
Data
Configuration
Command
TCP/IP
IPC
UserProgra
m
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6City College of New York
Hardware Abstraction
PlayerServer
PlayerClient
Library
C/C++C#JavaTcl
PythonRubyLisp
Octave
UserProgram
RobotHardware
StageSimulator
GazeboSimulator
PlayerServer
PlayerServer
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7City College of New York
Pre-Installation Procedure
• Player/Stage works only in Linux Operating System.• Distributions: Red-hat, Fedora, Debian, SUSE... • Our choice: Ubuntu Linux --- user-friendly with GUI• Pre-installation: careful hard drive partition• Post-installation: add necessary software such as
C/C++ compiler (gnu C++/G++), devhelp, devhelp-common, dmsetup ...etc.
• Familiarize yourself with the directory tree of Ubuntu.• Use “Synaptic package manager” to find out what are
missing in order to run or compile programs.• Note: Linux OS is case-sensitive just as Unix system.• Must get used to work with console-based environment.
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8City College of New York
Ubuntu GUI
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9City College of New York
Player/Stage Installation (1)First, download free copy from the following web site:
http://playerstage.sourceforge.net
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10City College of New York
Player/Stage Installation (2)• Go to “Download” hyperlink and click. It will
bring you to the download sites as ...
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11City College of New York
• Download the latest version of Player, Stage, and Gazebo on the desktop of your Linux computer.
• Unzip the relative compressed files by double-clicking it.• All the unzipped files will go to their destined directories.
i.e., all Player files will go to /player-2.0.5/ directory and all Stage files will go to /stage-2.0.4/ directory
• Then, change directory to /player-2.0.5/ and type:./configure (it will take a while to compile Player)
• After complete compilation, type: make• If no error, then continue to type: make install• Sometimes, you need to type “sudo” to override the
requirement for administrative password.• Once this is done, repeat the same thing for Stage.• For some reason if you induce errors which prevents it from
complete, check the error messages to find out what needed to be done or what dependent file has been left out.
Player/Stage Installation (3)
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12City College of New York
Structure Tree after installation
Root
2 copies of Player/Stage are stored separately in the following directory trees
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13City College of New York
GUI Home for Player-Stage
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14City College of New York
Console for running programs
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15City College of New York
Drivers of Player
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16City College of New York
Cfg files for Stage simulation
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17City College of New York
A peek of slam.cfg file
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18City College of New York
Run Player from console
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19City College of New York
A peek of world file
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20City College of New York
User’s C++ program
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21City College of New York
Visualization of a simulation
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22City College of New York
Built-in C++ Library
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23City College of New York
Built-in Utility
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24City College of New York
Playernav for path planning(1)
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25City College of New York
Playernav for path planning(2)
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26City College of New York
PlayerV: Robot’s Teleportation
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27City College of New York
Exploration and mapping(1)
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28City College of New York
Exploration and mapping(2)
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29City College of New York
Exploration and mapping(3)
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30City College of New York
Exploration and mapping(4)
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31City College of New York
Gazebo: 3D simulator
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32City College of New York
Conclusion
• Easy to use
• High fidelity to the existing hardware
• Easy to access hardware by driver interface and plug-in
• Easy to develop your own codes
• Many template to custom-make codes
• Porting codes from Stage to robot is effortless. Little modification needed.