User:Rmattes/Robotics

Frameworks

Player	About Player is a free and open networked robotics server. The Player server acts like a "robot abstraction layer," providing standardized interfaces and messaging management for many classes of robotics-related devices (camera, ranger, planner, etc.) Drivers for individual devices abstract information into these interfaces and use them to communicate amongst each other. Player also includes a set of client libraries in C, C++, Python, and Ruby which enable outside programs to subscribe to interfaces provided by the Player server. Several utilities are included for logging, viewing, and sending data. Also included are example programs using the client libraries and examples of plugin device drivers. In Fedora, Player provides over 130 different drivers, ranging from device drivers and data processing drivers, to complex path planning and obstacle avoidance algorithms. Try it Install Player with the following command: su -c 'yum install player' Start Player with a configuration file providing "dummy" devices: player /etc/player/config/dummy.cfg In a separate terminal or from the Applications menu, launch PlayerV playerv The dummy interfaces publish sample data which can be used to verify the operation of Player. PlayerV can also be used to visualize data from real sensors or from Stage (see below.)	Screenshot
Fawkes	About About Fawkes. Try it Install Fawkes with the following command: su -c 'yum install fawkes'	Screenshot

Simulators

Stage	About Stage is a free and open 2.5D robot simulator. It can be used on its own, or as an extension of the Player robot server. Stage supports simulation of vehicle movement, and various sensors such as scanning laser range finders, SONAR arrays, cameras, fiducial markers, etc. Use of simplified sensor and movement models provide good fidelity and great scalability: Stage can easily simulate 100 or more robots, and can be easily expanded to provide new and interesting capabilities. Try it Install Stage with the following command: su -c 'yum install stage stage-playerplugin' Now, you can run Player with a sample configuration file that launches a Stage world: player /usr/share/stage/worlds/simple.cfg In a separate terminal or from the Applications menu, launch PlayerV playerv You can use PlayerV to subscribe to and visualize the interfaces provided by Stage, as well as send movement commands to the simulated robot.	Stage simulating power dissipation of 30 wandering robots