playerstage-tutorial-manual
How to Use Player/Stage2nd EditionJennifer Owen16th April 2010This document is intended as a guide for anyone learning Player/Stage forthe rst time. It explains the process of setting up a new simulation environmentand how to then make your simulation do something, using a case study alongthe way. Whilst it is aimed at Player/Stage users, those just wishing to usePlayer on their robot may also nd sections of this document useful (particularlythe parts about coding with Player).If you have any questions about using Player/Stage there is a guide to gettinghelp from the Player community here:http://playerstage.sourceforge.net/wiki/Getting_helpThis edition of the manual uses Stage version 3.2.X as there are signi cantdi erences with the previous versions of Stage and the previous edition of thismanual is now out of date.1Contents1 Introduction 41.1 A Note on Installing Player/Stage . . . . . . . . . . . . . . . . . 42 The Basics 62.1 Important File Types . . . . . . . . . . . . . . . . . . . . . . . . 62.2 Interfaces, Drivers and Devices . . . . . . . . . . . . . . . . . . . 73 Building a World 93.1 Building an Empty World . . . . . . . . . . . . . . . . . . . . . . 93.1.1 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.1.2 Describing the Player/Stage Window . . . . . . . . . . . . 143.1.3 Making a Basic World le . . . . . . . . . . . . . . . . . . 153.2 Building a Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 ...