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Player/Stage Getting Started
----------------------------
For Player and Stage v.1.6
Author: Richard T. Vaughan (rtv)
Created: 2004.02.05
Revisions (most recent first):
rtv - 2005.01.20 - Updated for Player and Stage-1.6
rtv - 2004.07.05 - Updated for Stage-1.5
rtv, Reed Hedges - 2004.02.06
rtv - 2004.02.05
CVS: $Id: ps_getting_started-1.6.txt,v 1.1 2005-01-30 21:38:26 rtv Exp $
Purpose of this document
------------------------
This document is intended to be a gentle introduction to the
Player/Stage system (P/S). It will tell you how to obtain, compile and
install the software; how to set up your shell environment and run
Player/Stage for the first time; and how to run some Player client
programs to control simulated Stage robots.
These instructions do not cover writing Player client programs.
Where to find help on installing and using the Player/Stage system
------------------------------------------------------------------
Documentation:
The main sources of P/S documentation are:
1. The README file contained in each package distribution
2. The Player and Stage manuals
3. This document
The most recent versions of the manuals and this document are
available online at:
http://playerstage.sourceforge.net/doc/doc.html
If the docs don't answer your questions, there are also several
sources of help based at the project homepage:
http://playerstage.sourceforge.net.
There you will find:
1. Frequently Asked Questions (FAQ) list, with answers
2. user mailing list archive (playerstage-users@sourceforge.net)
3. developer mailing list archive (playerstage-developers@sourceforge.net)
Hundreds of questions have already been asked and answered on the
mailing lists: you should search them before asking your question.
If, after checking these resources, you are still stumped, please ask
questions by email to:
playerstage-users@sourceforge.net
Please do not mail the developers at their personal email addresses:
you'll get better service by using the mailing list as it is read by
lots of experienced people. There's a FAQ item on using the mailing
list:
http://playerstage.sourceforge.net/faq.html#reporting_bugs
The main thing to remember is that hundreds of people will get your
mail, so please be polite, provide plenty of informaion, and remember
that this software and support is provided as a gift to you.
How to read this document
-------------------------
Throughout this document you will see some terms in angle brackets,
like <this>. When reading these terms, you should substitute some
version- or location- or user-specific text for the term in
brackets. For example, when you see the path
<player_source_dir>/examples/c++
you should replace <player_source_dir> with the path of the Player
source directory you unpacked on your system. For example, Joe User
might have unpacked a player distribution in his home directory, so
Joe would use this path:
/home/joeuser/player-src-1.6.1/examples/c++
Also, version numbers may be specified like this: 1.6.x
Which means _any_ version that begins with 1.6. You should replace
1.6.x with the actual version number you are using, for example 1.6.1.
Usually, P/S components with the first two numbers the same (the MAJOR
and MINOR version numbers) will work together. (The third number gives
the BUGFIX version number). These conventions are fairly common in the
software community.
Instructions for installing the Player/Stage system v1.6
--------------------------------------------------------
You must take the following steps in this order:
1. Install prerequisites
2. Get the source code and decide where to install it
3. Install librtk2
4. Install Player
5. Install Stage
6. Set up your environment
7. Test
We'll go through these steps in detail:
1. Install prerequisites
The P/S system is developed and tested under Linux and OS X. It is
less frequently tested on Solaris and *BSD systems, but it usually
works there too. We wrote Player/Stage with very standard development
tools, so there's a very good chance that you have the required
compiler and libraries already installed on your UNIX-like
machine. Just for reference, the following tools are required:
gcc with C++ support (g++)
autoconf
automake
libtool
make
Most systems come with these installed by default, but some may have
an install-time option or package manager option to install developer
tools. Developer tools are not installed by default on OS X: they are
supplied on a separate CD that came with your Mac, and can also be
downloaded from Apple. Use Apple's installer to set up the dev tools.
There are also some third-party code libraries on which P/S
depends. The main one is the GIMP toolkit (GTK+-1.x or GTK+-2.x). This
comes as standard with most Linux and Solaris distributions. If you
have GNOME installed, you have at least part of this already. GTK+ has
several dependencies of its own, so you should use your system's
package management to simplify installation. Some package managers
have broken up GTK+ into 'normal' and 'development' parts; You need
both. The exact names of the packages vary slightly across platforms,
but look for package names such as 'gtk+-<version>' and
'gtk+-dev-<version>'. Use the most recent version. For OS X, Fink is
the best way to find these packages (http://fink.sourceforge.net).
Player has some optional components, including the GNU Science Library
(GSL). Most people can do without it, but if you are planning to use
localization drivers such as AMCL, you should download and install GSL
before building Player.
2. Get the source code and decide where to install it
The P/S software comes packaged as compressed tar archives, commonly
called 'tarballs'. Get the latest releases from:
http://sourceforge.net/project/showfiles.php?group_id=42445
You need:
librtk-src-<version>.tar.gz
stage-src-<version>.tar.gz
player-src-<version>.tar.gz
Use the largest available version number. These instructions apply
only to versions 1.6 or later.
Now figure out where you want to install the software. The install
location is determined by autoconf's `prefix' variable. The default
value of prefix depends on your system, but is usually /usr/local. If
you want to install somewhere else (perhaps you don't have write
access to /usr/local, or you have another version installed already),
you can change `prefix' using an argument to the configure script.
You should use the same prefix to each P/S package so they can find
each other. If you don't supply a prefix, the default for your system
(normally /usr/local) will be used. As you read these instructions,
you should substitute your chosen prefix whenever you see '<prefix>'.
Note that this is the normal behavior for autoconf. If you're
experienced with autoconf, you could have guessed that P/S works this
way. This is the beauty of standard tools.
Once you've decided if you need a prefix, and what it should be,
you're ready to start installing.
3. Installing librtk2
librtk2 is Andrew Howard's Robot ToolKit. It must be installed before
Player, because several of Player's drivers and visualization
utilities use functions from this library to draw their graphics.
Step 1: Expand the source code tarball and check the README file
Uncompress and extract the files from the tarball:
$ tar xzvf librtk-src-<version>.tar.gz
Some systems, including Solaris, may need to do this as two steps:
$ gunzip librtk-src-<version>.tar.gz
$ tar xf librtk-src-<version>.tar
Change directory into the expanded source code directory:
$ cd librtk-src-<version>
Check the README file for see any messages from the developers that
may not be in other documentation, including this document.
Step 2: Configure the build for your system
This step prepares the rest of the build process for your particular
system. If you're installing to the default location the command is
simply:
$ ./configure
or, if you have your own preferred installation prefix:
$ ./configure --prefix=<prefix>
Remember to substitute your chosen prefix for <prefix>. For example,
to install in ~/ps-test do this:
./configure --prefix=$HOME/ps-test
Note that prefix must be an absolute path, so '$HOME' is used instead
of '~/'.
Check the results of the configuration step. If no errors are
reported, carry on the next step.
Step 3: Compile and install
To build librtk2, do this:
$ make
If the library builds without errors you install it like this:
$ make install
If 'make install' fails, complaining about write permissions, you may
need to be root for this step, depending on the installation prefix
you chose. Generally it's a good idea to be root only when you really
have to, so don't forget to change back to your regular user ID after
this step.
If successful, you should now be able to find the header file
<prefix>/include/rtk.h and the library <prefix>/lib/librtk.a. You
should find that these files have very recent modification times.
Player
4. Installing Player
The steps for installing Player are essentially the same as for
librtk2.
Step 1: Expand the source code tarball and check the README file
$ tar xzvf player-src-<version>.tar.gz
$ cd player-src-<version>
$ less README
Step 2: Configure the build for your system
If you're installing to the default location:
$ ./configure
or, if you have your own preferred installation prefix:
$ ./configure --prefix=<prefix>
Use the same prefix you used for librtk.
When Player has finshed configuring itself, it prints a report
explaining what happened. You should check this output carefully for
informative errors and warnings. When you're happy with the
configuration, and no errors are reported, go to the next step.
Step 3: Compile and install
$ make
$ make install
Again, you may need root privileges to make install, depending on your
chosen prefix.
After installation, you should find some new header files in
<prefix>/include, including player.h. You'll also have the Player
binary itself: <prefix>/bin/player along with various other tools.
You can quickly verify that Player runs:
$ <prefix>/bin/player
** Player v1.6 ** [TCP]
error main.cc:1471 : No devices instantiated; perhaps you should
supply a configuration file?
That error is to be expected, as we didn't supply a configuration file
on the command line. We'll come to that later.
5. Installing Stage
Stage is an add-on module, or "plug-in" for Player, so it must be
installed last. The process is similar to the other packages.
$ tar xzvf stage-src-<version>.tar.gz
$ cd stage-src-<version>
$ less README
then either
$ ./configure
or
$ ./configure --prefix=<prefix>
then
$ make
$ make install
You can verify that Stage installed successfully by checking that the
files <prefix>/include/stage.h and <prefix>/lib/libstage.a exist and
have very recent modification times.
6. Setting up your environment
We will be asking Player to load the plug-in module 'stage'. The
plugin is implemented in the library file <prefix>/lib/libstage.a. We
have to tell Player where to look for plugins, and we do this with the
PLAYERPATH environment variable. PLAYERPATH is list of directories
that Player should search for plugins, separated by colons.
In BASH, the command to set PLAYERPATH is like this:
$ export PLAYERPATH=<prefix>/lib
in CSH:
% setenv PLAYERPATH <prefix>/lib
You may find it convenient to have the player binaries in your
path. Test this with the `which' command:
$ which player
If `which' can not find player, you can add the binary installation
directory to your PATH environment variable.
E.g. in BASH:
$ export PATH=<prefix>/bin:$PATH
in CSH:
% setenv PATH /bin:$PATH
You may want to add this PATH change to your login scripts so you
don't have to do it every time.
If you don't understand this section, read an introductory UNIX text
or tutorial. You'll need to have the basics under control to be
productive with P/S.
7. Testing
Player requires the name of a configuration file as an argument, like
this:
$ player filename.cfg
By convention, Player config files have the suffix '.cfg'. Some
examples are provided in the distribution to get you started. To try
one out, change directory to <stage-src-dir>/worlds and do:
$ <prefix>/bin/player simple.cfg
or, if player is in your path, simply
$ player simple.cfg
All being well, you'll see some console output declaring the version
numbers and startup details for Player. This should be shortly
followed by Stage's window containing a floor plan of a set of rooms
and some robots.
Click on a robot and you'll see its name and pose in the status bar at
the bottom left of the window. Try dragging the robot around with the
mouse and see the pose change.
Next, we'll run a Player client; a program that talks to
Player. PlayerViewer is a Player client that can give a visualization
of the data from various Player devices. If you installed Player
using the instructions above, the PlayerViewer binary 'playerv' should
have been installed in <prefix>/bin.
In another terminal do:
$ <prefix>/bin/playerv
PlayerViewer will print a message on the console describing the Player
devices it found. Then it pops up a window. From the PlayerViewer
window's menu, choose Devices/Laser:0(stage)/Subscribe. In the Stage
window you should now see a robot generating a laser scan of the world
in front of it. The PlayerViewer window should show a matching
scan. The client program has fetched this data from Player, which
fetched it from Stage. This is just what happens with a real hardware
laser scanner: The device (or its Stage-simulated equivalent)
generates the data, Player collects it all in one place, then delivers
it to Player client programs. Like most Player clients, PlayerViewer
doesn't know that the data comes from a simulator; it works just the
same on real robots.
Try connecting to the position device too. Once you have subscribed to
a position device, you can choose the 'Command' menu item; this allows
you to drive the robot around by dragging the little red cross-hair
widget in the PlayerViewer Window. You should see the robot moving in
the Stage window, and the laser scan data changing in both Stage and
PlayerViewer.
One more thing to try: run an example robot control client. The
directory <player-src-dir>/examples/c++ contains a few simple
demonstration controllers. Try one out:
$ <player-src-dir>/examples/c++/laserobstacleavoid
You should see the Stage robot cruising around, avoiding
obstacles. Player allows multiple clients to connect to robot devices,
so if you're still running PlayerViewer you can see the laser data
changing.
You now have a Player controller and a visualization client using a
virtual robot provided by Stage. If all this works, your installation
is good.
Notes on config files
---------------------
The configuration file is a plain text file that describes what robot
devices are available to Player, and how Player should present them to
the user. This is done by specifying the set of interfaces and drivers
you want in your Player session. When using Player as a Stage client,
your config file will contain a 'simulation' interface entry that uses
the 'stage' driver and specifies a 'world file' with a '.world' suffix
that describes the contents of the world that Stage should
simulate. The .cfg and .world config files are very powerful and
details are beyond the scope of this document - consult the Player and
Stage manuals instead - but here is a simple pair of world and cfg
files by way of example:
Creating models in a Stage worldfile, saved as "example.world":
# create a position model - it can drive around like a robot
position
(
pose [ 1 1 0 ]
color "red"
name "marvin"
laser() # add a laser scanner on top of the robot
)
Using the Stage models in a Player config file, saved as "example.cfg":
# load the Stage plugin and create a world from a worldfile
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstage"
worldfile "example.world"
)
driver
(
name "stage"
provides ["position:0" "laser:0"]
model "marvin"
)
With these files in the current directory, Player would be run like
this:
$ player example.cfg
More examples can be found in the Stage source tree, in directory
<stage-src-version>/worlds.
Authors note
------------
I hope you found this document useful. I'd appreciate your feedback to
help me improve it. Please use the reporting systems on the homepage
to submit feedback, patches, etc.
Richard Vaughan, January 2005.
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