Player 2.1.1 / Stage 2.1.0 (official release)

Created: 07.08.2008

Installation on Fedora 9

First of all

You must have a suitable Linux distribution running into your computer in order to install Player Robotics Interface and Stage 2D Mobile Robotics Simulator. The following are the steps you might follow to install Player and Stage on a Fedora 9 machine. It will also work on similar distributions with similar configuration. Follow the first 2 steps in Personal Fedora 9 Installation Guide to install Fedora 9 correctly (in addition, great tips for F9), and add Development Support during installation in order to be able to compile and install Player/Stage and their prerequisites.

Prerequisites

Mandatory Player/Stage prerequites already installed with the above Fedora 9 configuration: Prerequisites.txt

Aditional mandatory prerequisites available at Fedora 9 Package List:

libtool-ltdl-devel-1.5.24-6.fc9.386.rpm - The GNU Portable Library Tool development package

Install from fedora rpm repository

$ 
yum install libtool-ltdl-devel

Optional prerequisites:

gsl-1.10.tar.gz - GNU Scientific Library for acml driver ($ yum install gsl gsl-devel)
opencv-1.0.0.tar.gz - Real time computer vision ($ yum install opencv opencv-devel)
libraw1394-1.3.0-7.fc9.i386.rpm - Library providing low-level IEEE-1394 access for camera1394 driver ($ yum install libraw1394)
libraw1394-devel-1.3.0-7.fc9.i386.rpm - Development libs for libraw1394 ($ yum install libraw1394-devel)
libavc1394-0.5.3-2.fc9.i386.rpm - Audio/Video Control library for IEEE-1394 devices for camera1394 driver ($ yum install libavc1394)
libavc1394-devel-0.5.3-2.fc9.i386.rpm - Development libs for libavc1394 ($ yum install libavc1394-devel)
libdc1394-2.0.2-1.fc9.i386.rpm
libdc1394-devel-2.0.2-1.fc9.i386.rpm
libjpeg-6b-41.fc9.i386* - A library for manipulating JPEG image format files for cameracompress driver
libjpeg-devel-6b-41.fc9.i386* - Development tools for libjpeg
<linux/joystick.h>* - The Linux joystick support for linuxjoystick driver

(*) already installed with the above Fedora 9 configuration

Python bindings for Player/Stage (optional):

    $ mkdir -p /usr/local/lib/python2.5/
    $ cd /usr/local/lib/python2.5/
    $ ln -s /usr/lib/python2.5/site-packages

Add to /etc/bashrc :

    export PATH=/usr/local/bin:$PATH
    export CPATH=/usr/local/include:$CPATH
    export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
    export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
    export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

And optionally for Python bindings:

export PYTHONPATH=/usr/local/lib/python2.5/site-packages:$PYTHONPATH

Install Player 2.1.1 as root

Installing:

    $ tar xvzf player-2.1.1.tar.gz
    $ cd player-2.1.1
    $ ./configure
    $ make
    $ make install

Running:

$ player /usr/local/share/player/config/pioneer.cfg

Output:

    [root@localhost ~]# player /usr/local/share/player/config/pioneer.cfg
    Player v.2.1.1

    * Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
    * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
    * Nate Koenig, and contributors. Released under the GNU General Public License.
    * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you
    * are welcome to redistribute it under certain conditions; see COPYING
    * for details.
    Listening on ports: 6665

Install Stage 2.1.0 as root

Installing:

    $ tar xvzf stage-2.1.0.tar.gz
    $ cd stage-2.1.0
    $ ./configure
    $ make
    $ make install

Running:

$ stest worlds/simple.world robot1

Stage 2D robot simulator

Player & Stage together

Run the following to make Player use Stage's simulated devices:

$ player /usr/local/share/stage/worlds/simple.cfg

Player and Stage

Controlling the robot:

$ playerv --position2d:0 --laser:0

Choose the menu option Devices->position2d:0->Command , to drive the robot around. A little crosshair will appear on the robot; click and drag it right and left to move the robot forward and backward (drag it up and down to turn left and right).

playerv

For robot autonomous movement (de-select the Devices->position2d:0->Command) run;

$ cd <path_to_player>/examples/libplayerc++/laserobstacleavoid

Driver & Interfaces

TODO

Intelligent Mobile Robots

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