# rtv/Stage

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 \begin{verbatim} Player/Stage Getting Started ---------------------------- Author: Richard T. Vaughan (rtv) Created: 2004.02.05 Revisions (most recent first): rtv - 2004.07.05 - Updated for Stage-1.5 rtv, Reed Hedges - 2004.02.06 rtv - 2004.02.05 CVS: $id$ ** IMPORTANT NOTE FOR USERS OF PREVIOUS VERSIONS ** The required build order of P/S components has changed with the release of Stage-1.5. The order is now: 1. libRTK2 2. Stage 3. Player ** END ** Where to find help on installing and using the Player/Stage system ------------------------------------------------------------------ In order of likely up-to-dateness: 1. The README file contained in every distribution 2. The Stage and Player manuals 3. This document 4. The project homepage http://playerstage.sourceforge.net - FAQ list - user mailing list archive (playerstage-users@sourceforge.net) - developer mailing list archive (playerstage-developers@sourceforge.net) - ask a question on the user list playerstage-users@sourceforge.net If you run into problems following the instructions in this document, please check the other resources. It is considered bad manners to contact the authors directly until you have exhausted the other resources. How to read this document ------------------------- Throughout this document you will see some terms bracketed by less-than, greater-than symbols, like . When reading these terms, you should substitute some version- or location-specific text for the term in brackets. For example, when you see the path /examples/c++ you should replace with the directory created when you unpacked the Player source on your system. Perhaps: /home/rtv/PS/player-src-1.5/examples/c++ Similarly, version numbers may be specified like this: 1.5.x Which means _any_ version that begins with 1.5, for example 1.5, 1.5.3, 1.5.99. 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 common in the software community. Instructions for installing the Player/Stage system v1.5. -------------------------------------------------------- You must take the following steps in this order: -1: install prerequisites 0. get the source and decide common system configurations 1. install libRTK 2. install Stage 3. install Player 4. set up your environment 5. test -1: 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. You need the GIMP toolkit (GTK+-1.x or GTK+-2.x) installed first. If you have GNOME installed, you have this already. GTK+ has its own dependencies. You can almost certainly use your system's package management to simplify GTK+ installation. OS X users can use Fink - it works fine for me. Optional components include the GNU Science Library (GSL). You can do without it for now. You don't need the Open Dynamics Engine unless you want to run Gazebo, and these instructions don't cover Gazebo. Look for a Player/Gazebo Getting Started in the future. 0. System-wide configuration Obtain the librtk, Player and Stage distributions. They come 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-.tar.gz stage-src-.tar.gz player-src-.tar.gz Where is greater than 1.5. Stage-related code in the P/S system changed dramaticaly between 1.3.4 and 1.5 (Stage skipped v1.4 to catch up with Player's numbering). 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 (if e.g. you don't have root access, or you have another version installed already), you can change prefix' using an argument to the configure script. For example, to install in ~/PS-TEST do this: ./configure --prefix=$HOME/PS-TEST You should pass the same prefix to each P/S package so they can find each other (actually, you can provide paths for each package individually if you need to, which is useful for testing modified versions, but using a single common prefix is much easier and is recommended). If you don't supply a prefix,the default for your system (normally /usr/local) will be used. As you read these instructions, you should substitute your chosen prefix whenever you see . Note that this is the normal behavior for autoconf, so this knowledge should be useful elsewhere. If you're experienced with autoconf, you could have guessed that P/S works this way. This is the beauty of standard tools. 1. libRTK libRTK is Andrew Howard's Robot ToolKit, used for most of the graphics in Player and Stage. It needs to be installed first because Player and Stage include it as they compile. To install in the default location (probably /usr/local):$ ./configure or to install somewhere else: $./configure --prefix= Now compile the library:$ make If the library builds without errors you install it like this: $make install If 'make install' complains about write permissions, you may need to be root for this step, depending on the installation prefix you chose. Generally it's a good idea to be root only when you really have to, so don't forget to change back to your regular UID after this step. If successful, you should now be able to find the header file /include/rtk.h and the library /include/librtk.a. You should find that these files have very recent modification times. 2. Stage Change directory to the Stage distribution, and follow the same procedure:$ ./configure --prefix= $make$ make install You should now have the Stage binary in /bin, the stageclient library libstageclient.a in /lib and the stageclient header file stage.h in /include. 3. Player Player comes last because it depends on the stageclient library that is installed by Stage. Change directory to the Player distribution, and follow the same procedure: $./configure --prefix=$ make $make install You should now find several more header files in /include, including player.h. You'll also have the Player binary itself: /bin/player along with various optional tools. 4. Setting up your environment You may find it convenient to have the player and stage binaries in your path. Test this with the which' command: which player stage If which' can not find player and stage, add the binary installation directory to your PATH environment variable. E.g. in BASH:$ export PATH=/bin:$PATH and in CSH: % setenv PATH /bin:$PATH 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. You may want to add this PATH change to your login scripts so you don't have to do it every time. 5. Testing Stage runs as a 'server' process, i.e. it starts up and does nothing until a 'client' makes requests of it. Start stage like this: $/bin/stage or, if Stage is in your path, simply:$ stage All being well, you should see Stage's standard startup messages: * Stage-1.5.0 * [localhost:6600] * Ready. That's it. Now we run a client that requests some simulation services from Stage. Player is a stage client. Player requires the name of a configuration file as an argument, like this: $player By convention, Player config files have the suffix '.cfg'. Some examples are provided in the distribution to get you started. To try one out do:$ cd /config/stage $/bin/player test.cfg or, if player is in your path:$ player test.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 one or more 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. 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 'stageclient' 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 he Player and Stage manuals instead. To complete the test, we'll run a Player client; a program that talks to Player. Playerv is a Player client that can give a visualization of the data from various Player devices. In another terminal do: $/bin/playerv This should pop up another window. From the Devices menu, select laser:0. In the Stage window you should see a robot generating a laser scan of the world in front of it. The Playerv window should show a matching scan. The client program has fetched this data from Player, which fetched it from Stage. This is just what happens with a real hardware laser scanner: The device (or its Stage-simulated equivalent) generates the data, Player collects it all in one place, then delivers it to Player client programs. Like most Player clients, playerv doesn't know that the data comes from a simulator; it works just the same on real robots. Experiment with subscribing and commanding position:0 (again in the Device menu). You can drive the robot around by dragging the red cross-hairs widget in playerv's window. If all this works, your installation is good. Take a look at some of the Player example clients in the Player source tree under `examples' (not the installation tree). These are separated by programming language. For example:$ cd /examples/c++ \$ laserobstacleavoid should get your test robot running around. Player allows multiple clients to connect to robot devices, so if you're still running playerv you can see the laser data changing. 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 July 2004. http://playerstage.sourceforge.net \end{verbatim}
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