Create map for Player/Stage - Notes for task

The student is required to simulate the general use case in Player/Stage. This process involves the following steps:

1. The robots are given an assembly module in which the pieces are located.
2. The closest available robot to the piece should book it to the master system and generate a navigation local plan for going to this piece. Then, the robot should make the plan public to the master system. In this case will be used a GoTo function with VFH, Wavefront and AMCL drivers from Player framework.
3. The robot will reach the piece and report that the piece was reached to the master system. Then, the robot will make a local navigation plan to deposit the damaged piece in a central waste deposit.

The robot should report a stand-by status and look for the report of a next damaged piece.

Map control for Stage simulator - notes for task

In this task the student will get in familiar in how to handle map files obtained from image bitmaps and of creating a simulation use case map.

In the first step, the sample handling file for maps can be found in Stage installation path:

“$STAGE_PATH/worlds/map.inc“. The student will require executing Player/Stage service with the different PNG images files provided in the path of Stage installation: “$STAGE_PATH/worlds/bitmaps“.

The second step involves creating a simulation map according to the Use Case in use and attaches it to the Stage simulator. Such map will contain the following features:

1. An assembly line divided in modules.
2. From 1 to 5 robots
3. Different damaged pieces over the assembly line.
4. Movable obstacles defined by user in execution time.
5. A central waste deposit for damaged pieces.

A general overview will be given and discussed with the lecturers involved.

Modeling the environment for Stage simulator. - Notes for task

This set of tasks intent to generate the environment for the use case in use with Player/Stage. The goal is also to create the show-off of robot-user interface for adapting the agent requirements and procedures to this approach.

Check Pioneer functionality with ARIA demo - Notes for task

This task requires installing ARIA software which it is included as part of the Pioneer robot software. The installation should be done into the computer which will be used to control the robot. Once the demo program has been located, the student just need to start the ARIA demo program and press control keys to teleoperate the robot.

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Program a Player client (a.k.a. ClientProxy) - Notes for task

In this task is required to compile and execute a sample PlayerClient for C++, as it is described in:

http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__cplusplus__example.html

The program should be tested and executed in simulation (Stage) and with the robot too using a Player service for each CFG file.

Execute samples for robot and laser sensor in Player and Stage - Notes fo task

In this task will be required to execute a sample control program for the Pioneer robot and Sick sensor.
The sample program can be executed by running an already done CFG file: “$PLAYER_PATH/config/pioneer.cfg”.

It is also required to set the correct path value for the SERIAL connector for the robot and sick sensor. The connection path is normally known as “tty0” or “tty1”. The Player can be executed in a terminal by the command:
“$ player $STAGE_PATH/worlds/pioneer.cfg”

After executing the Player framework with the correct configuration file, the robot and sensor can be accessed by the “playerv” utility, contained in Player installation path: “$PLAYER_PATH/utils”. The application can be executed by setting the HOST of where is executed the player service. In this case the Player service will be executed in the same computer in which the Player service has been initialized. So, the command has to be execute in terminal is:
“$ playerv –h localhost” or
“$ playerv –h 127.0.0.1”

The player user interface is described in:
http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__util__playerv.html

Getting related to Stage service - Notes for task

The Stage program requires identifying the main features and key concepts of the Stage simulation framework. The objective of this task is to familiarize with the syntax of a Window, Models and Worlds. Also the student is required to execute a stage application for teleoperating a simulated version of the robot, as is shown in the following instructions:

1. Start Player by executing a Stage CFG file contained in folder installation path: $STAGE_PATH/worlds/simple.cfg. From a terminal is required to execute the following command: “$ player $STAGE_PATH/worlds/simple.cfg”

1. Execute the “playerjoy” utility in order to teleoperate the robot from another terminal. The “playerjoy” can be found inside the Player installation path: “$PLAYER_PATH/utils” depending on the installed version (whether CMAKE or ./CONFIGURE). Moreover, after a correct installation this utility can be executed in any part of the user system. The application can be executed by typing the following command: “$ playerjoy”
   

1. Then, robot movements can be controlled by following the screen instructions.

In this task the student will also be required to understand and rename basic features from Window, Models and Worlds files in order to use them appropriately.

Install Player/Stage - Linux (Ubuntu) - Notes for task

This task requires the user to have a Linux computer (e. g. Ubuntu Hardy) and of downloading the last stable version of the Player and Stage frameworks. Then the student will need to install the Player/Stage frameworks, but initially to install any required packages into the operating system. The goal of this task is to generate a functional developing platform.

The installation can be done by downloading two versions of the code. The first is the SVN version which uses a CMAKE method of installation and the file ./CONFIGURE version. The CMAKE version can be found in the SVN and downloading by “checking out” the source code. The ./CONFIGURE version can be obtained by the TAR file provided in the Player/Stage website.

The installation procedure is very important in order to generate the appropriate commands and libraries for Player/Stage. It is also required to redirect the $LD_LIBRARY_PATH from the “.bashrc” in each user HOME path.