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1City College of New York
Player Stage Gazebo
Rex Wong
CCNY Robotic Lab
A robotic research and development environment
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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Robot Programming
SerialCanbus
…
Camera
Laser
Sonar
Odometry
Motors
User Program
SensoryData
Acquisition
MotorCommandGeneration
PCI
USB
Serial
…Planner
DesiredMotion
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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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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Hardware Abstraction
PlayerServer
PlayerClient
Library
C/C++C#JavaTcl
PythonRubyLisp
Octave
UserProgram
RobotHardware
StageSimulator
GazeboSimulator
PlayerServer
PlayerServer
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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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Ubuntu GUI
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Player/Stage Installation (1)First, download free copy from the following web site:
http://playerstage.sourceforge.net
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Player/Stage Installation (2)• Go to “Download” hyperlink and click. It will
bring you to the download sites as ...
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• 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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Structure Tree after installation
Root
2 copies of Player/Stage are stored separately in the following directory trees
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GUI Home for Player-Stage
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Console for running programs
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Drivers of Player
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Cfg files for Stage simulation
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A peek of slam.cfg file
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Run Player from console
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A peek of world file
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User’s C++ program
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Visualization of a simulation
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Built-in C++ Library
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Built-in Utility
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Playernav for path planning(1)
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Playernav for path planning(2)
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PlayerV: Robot’s Teleportation
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Exploration and mapping(1)
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Exploration and mapping(2)
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Exploration and mapping(3)
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Exploration and mapping(4)
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Gazebo: 3D simulator
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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.