libplayercore | |
libplayercommon | This C library provides error-reporting and debug output facilities |
Tutorials | Listed below are tutorials on various topics that may be of interest to users of Player |
 Interfaces, drivers, and devices | Fundamental concepts in Player |
 Migrating from Player 1.6 to Player 2.0 | Including a guide to updating your drivers |
 Using cameras and blobfinders | Configuring and accessing cameras |
 Using Player and Automake | A brief overview of how Automake works |
 Cross-compiling | How to build Player for embedded systems |
 Command line arguments | Parsing command-line arguments |
 Data logging | Logging sensor data to files and playing it back |
  laser format | Laser log format |
  ranger format | Ranger log format |
  localize format | Localize log format |
  position2d format | Position2d log format |
  ptz format | PTZ log format The format for each wsn message is: |
  opaque format | |
  sonar format | Sonar log format |
  WiFi format | Wifi log format |
  WSN format | WSN log format |
  IMU format | IMU log format |
  pointcloud3d format | PointCloud3D log format |
  actarray format | Actarray log format |
  aio format | AIO log format |
  dio format | DIO log format |
  rfid format | RFID log format |
  Blobfinder format | Blobfinder log format |
  Camera format | Camera data format |
  fiducial format | Fiducial log format |
  GPS format | Gps log format |
  Joystick format | Joystick log format |
  Position3d format | Position3d format |
  Power format | Power log format |
 Writing configuration files | Config files |
 Adding a new interface | How to add an interface for a new kind of device |
 Writing a Player driver | How to write, compile, and load plugin driver |
 Manipulating maps | Map-handling |
Player utilities | Player utilities |
 player server | TCP server that allows remote access to Player devices |
 playerv | General-purpose sensor visualization and device control GUI |
 playernav | Multi-robot localization, navigation, and path-planning GUI |
 playercam | Camera visualization GUI |
 playerjoy | Joystick control for a mobile robot |
 playerprint | Print sensor data to the console |
 playervcr | Remote control of data logging and playback |
 dgps_server | Differential GPS correction server |
 playerwritemap | Retrieve map data and save it to a file |
Client Libraries | Libraries are available in various languages to facilitate the development of TCP client programs |
 libplayerc | A C client library for the player server |
  libplayerc example | An example |
  Utility and error-handling | Some helper functions |
  Multi-Client object | The multi-client object manages connections to multiple server in parallel |
  Client API | The client object manages the connection with the Player server; it is responsible for reading new data, setting data transmission modes and so on |
  Device API | The device object provides a common interface to the functionality that is shared by all device proxies (in OOP parlance, it is a base class) |
  Device proxies | Each interface has a corresponding proxy |
   aio | The aio proxy provides an interface to the analog input/output sensors |
   actarray | The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm |
   audio | The audio proxy provides access to drivers supporting the audio_interface |
   blackboard | The blackboard proxy provides an interface to a simple data-store in a similar fashion to a hash-map |
   blinkenlight | The blinkenlight proxy provides an interface to a (possibly colored and/or blinking) indicator light |
   blobfinder | The blobfinder proxy provides an interface to color blob detectors such as the ACTS vision system |
   bumper | The bumper proxy provides an interface to the bumper sensors built into robots such as the RWI B21R |
   camera | The camera proxy can be used to get images from a camera |
   dio | The dio proxy provides an interface to the digital input/output sensors |
   fiducial | The fiducial proxy provides an interface to a fiducial detector |
   graphics2d | The graphics2d proxy provides an interface to the graphics2d |
   graphics3d | The graphics3d proxy provides an interface to the graphics3d |
   gripper | The gripper proxy provides an interface to the gripper |
   health | The health proxy provides an interface to the HEALTH Module |
   ir | The ir proxy provides an interface to the ir sensors built into robots such as the RWI B21R |
   joystick | The joystick proxy can be used to get images from a joystick |
   laser | The laser proxy provides an interface to scanning laser range finders such as the sicklms200 |
   limb | The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm |
   localize | The localize proxy provides an interface to localization drivers |
   log | The log proxy provides start/stop control of data logging |
   map | The map proxy provides an interface to a map |
   vectormap | The vectormap proxy provides an interface to a map of geometric features |
   opaque | The opaque proxy provides an interface for generic messages to drivers |
   planner | The planner proxy provides an interface to a 2D motion planner |
   position1d | The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator |
   position2d | The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series |
   position3d | The position3d proxy provides an interface to a mobile robot base, such as the Segway RMP series |
   power | The power proxy provides an interface through which battery levels can be monitored |
   ptz | The ptz proxy provides an interface to pan-tilt units such as the Sony PTZ camera |
   ranger | The ranger proxy provides an interface to ranger sensor devices |
   sonar | The sonar proxy provides an interface to the sonar range sensors built into robots such as the ActiveMedia Pioneer series |
   wifi | The wifi proxy is used to query the state of a wireless network |
   simulation | The simulation proxy is used to interact with objects in a simulation |
   speech | The speech proxy provides an interface to a speech synthesis system |
   speech recognition | The speech recognition proxy provides an interface to a speech recognition system |
   rfid | The rfid proxy provides an interface to a RFID reader |
   pointcloud3d | The pointcloud3d proxy provides an interface to a pointcloud3d device |
   stereo | The stereo proxy provides an interface to a stereo device |
   imu | The imu proxy provides an interface to an Inertial Measurement Unit |
   wsn | The wsn proxy provides an interface to a Wireless Sensor Network |
 libplayerc_py | A Python client library for the player server |
  libplayerc_py example | An example of using libplayerc_py |
 libplayerc++ | A C++ client library for the player server |
  Proxies | The SomethingProxy class is a template for adding new subclasses of ClientProxy |
  libplayerc++ example | An example of using libplayerc++ |
  Signals & multithreading | Boost signal and thread support |
  MultiClient | How to easily connect to multiple servers |
  Constants and utility functions | Helper functions when using the library |
Messaging basics | Interface-independent message types, sizes, units, address structures, etc |
 Miscellaneous constants | Maximum message lengths, etc |
 Message types | The Player message types |
 Interface codes | An integer code is assigned to each interface |
 Address structures | Device and message address structures |
 General-purpose message structures. | These structures often appear inside other structures |
 Units | Standard units used in Player messages |
 Capabilities | Querying driver capabilities |
 Property Bags | Querying driver properties |
Interface specifications | All Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages |
 player | Player: the meta-device |
 power | Power system |
 gripper | Gripper interface |
 position2d | Planar mobile robot |
 sonar | DEPRECATED Array of ultrasonic rangers |
 laser | DEPRECATED Laser range-finder |
 blobfinder | A visual blob-detection system |
 ptz | Pan-tilt-zoom unit |
 audio | Interface to an audio system |
 fiducial | Fiducial (marker) detection |
 speech | Speech synthesis |
 gps | Global positioning system |
 bumper | An array of bumpers |
 dio | Digital I/O |
 aio | Analog I/O |
 ir | DEPRECATED Array of infrared rangers |
 wifi | WiFi signal information |
 localize | Multi-hypothesis planar localization system |
 position3d | A robot that moves in 3-D |
 simulation | A robot simulator |
 blinkenlight | An indicator light |
 camera | Camera imagery |
 map | Access maps |
 planner | A planar path-planner |
 log | Log read / write control |
 joystick | Joystick control |
 speech_recognition | Speech recognition |
 opaque | A generic interface for user-defined messages |
 position1d | A 1-D linear actuator |
 actarray | An array of actuators |
 limb | A multi-jointed limb |
 graphics2d | Two-dimensional graphics interface |
 rfid | RFID reader |
 wsn | Wireless Sensor Networks |
 graphics3d | Three-dimensional graphics interface |
 health | Statgrab - System Infos |
 imu | Inertial Measurement Unit |
 pointcloud3d | A 3-D point cloud |
 ranger | A range sensor |
 vectormap | Access and update geometric features in a map |
 blackboard | Access properties stored in a central repository |
 stereo | Stereo imagery (left-right channels, disparity and a 3-D stereo point cloud) |
libplayersd | Player service discovery library |
libplayertcp | Player TCP library |
libplayerxdr | |
libplayerdrivers | Library of standard Player drivers |
 Drivers | The drivers themselves |
  alsa | Linux ALSA sound system driver |
  imagebase | Driver base for image processing drivers, inherit from this driver and implement the process frame method |
  LocalBB | Local memory implementation of a blackboard |
  acts | ActivMedia color tracking system |
  artoolkitplus | Coded marker detection from the artoolkitplus project |
  cmvision | CMVision |
  searchpattern | Pattern finder |
  shapetracker | Tracks shapes in camera images |
  simpleshape | Visual shape-detection |
  upcbarcode | UPC barcode detection |
  camera1394 | Firewire camera capture |
  camfilter | Camera image filtering driver |
  cameracompress | Image compression |
  camerauncompress | Image compression |
  cvcam | OpenCV camera capture |
  gstreamer | Gstreamer driver |
  imageseq | Image file sequencer |
  imgcmp | Image comparing driver |
  imgsave | Image storage dispatcher |
  sphere | Logitech Sphere camera |
  unicapimage | Unicapimage |
  camerauvc | USB video (UVC) camera interface |
  camerav4l | Video4Linux camera capture |
  camerav4l2 | Video4Linux2 camera capture |
  VideoCanny | OpenCV-based edge detection |
  yarpimage | Driver for connecting to a YARP server and getting an Image |
  bitlogic | Bitwise logic functions for dio interface |
  blobtodio | Blobfinder to dio converter |
  Blobtracker | Blob tracker that sends ptz commands in order to make camera follow certain blobs |
  bumpertodio | Bumper to dio converter |
  diodelay | Dio state delay |
  diolatch | Dio bits latch |
  portio | Low-level access to the hardware I/O ports |
  rangertodio | Ranger to dio converter |
  serio | Low-level access to the serial port control lines |
  stalltodio | Position2d stall state to dio converter |
  laserbar | Laser bar detector |
  laserbarcode | Laser barcode detector |
  laserfeature | Extract line/corner features from a laser scan |
  laservisualbarcode | Color laser/visual barcode detector |
  laservisualbw | Black & white laser/visual barcode detector |
  garminnmea | Garmin GPS unit |
  gbxgarminacfr | Gearbox Garmin GPS driver |
  rt3xxx | Driver for the RT3XXX |
  statgrab | Player driver for the health of a robot |
  nimu | NIMU Inertial Measurement Unit driver |
  xsensmt | XSens MTx/MTi Inertial Measurement Unit driver |
  linuxjoystick | Linux joystick |
  Bumper2Laser | A driver to convert bumper readings to fake laser readings |
  lasercspace | Laser configuration space |
  lasercutter | Laser cutter |
  laserposeinterpolator | Attach poses to laser scans |
  laserrescan | Laser rescanner |
  RS4LeuzeLaser | RS4-E leuze laser range-finder |
  sickLDMRS | SICK LD MRS / Multi plae and multi return laser scanner |
  sicklms200 | SICK LMS 200 / PLS laser range-finder |
  sicklms400 | SICK LMS 400 laser range-finder |
  sicks3000 | SICK S 3000 laser range-finder |
  eeDHcontroller | Calculates the joint commands for a given End Effector pose using ROBOOP's Inverse Kinematics algorithms |
  amcl | Adaptive Monte Carlo localization |
  fakelocalize | Fake localization |
  gridmap | Provides a map using sonars
Mapping Driver plugin |
  mapcspace | Grow obstacles in grid maps |
  mapfile | Read grid maps from image files |
  mapscale | Scale grid maps |
  vmapfile | Read vector maps from text files |
  obot | Botrics Obot mobile robot |
  clodbuster | Clodbuster mobile robot |
  cmucam2 | CMUCam2 pan-tilt-zoom blob-tracking camera |
  erratic | Copyright (C) 2006 Videre Design Copyright (C) 2000 Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard |
  er1 | Evolution ER1 mobile robot |
  garcia | Mixed mode driver for Garcia robot by Acroname |
  create | IRobot Create |
  roomba | IRobot Roomba |
  khepera | K-Team Khepera mobile robot |
  MRICP | Map Reference ICP |
  nomad | NOMAD 200 driver |
  p2os | ActivMedia mobile robots |
  phidgetIFK | Phidget InterfaceKit driver |
  reb | K-Team Kameleon Robotics Extension Board |
  rflex | RWI mobile robots |
  segwayrmp | Segway RMP mobile robot |
  sr3000 | SR3000 |
  swissranger | SWISSRANGER |
  wbr914 | White Box Robotics Model 914 robot |
  wavefront | Wavefront-propagation path-planner |
  laserptzcloud | Build a 3D point cloud from laser and ptz data |
  flockofbirds | Ascension Flock of Birds position tracker |
  Blobposition | Localization device that treats blobs as object markers that can be used to retrieve real position of given object |
  bumpersafe | Bumper monitor |
  deadstop | Stop while dead |
  Globalize | This driver replaces local (odometry) position data with global position |
  Goto | A robot controller that drives a robot to a given target |
  inertiacube2 | ISense InertiaCube2 IMU |
  lasersafe | Bumper monitor |
  mbicp | ScanMatching |
  microstrain3dmg | MicroStrain 3DM-G IMU |
  motionmind | Solutions Cubed motor controller |
  sicknav200 | SICK NAV200 laser localisation unit |
  nd | Nearness Diagram Navigation |
  roboteq | Motor control driver for Roboteq AX2850 |
  segwayrmp400 | SegwayRMP400 Mobile Robot |
  snd | Smooth Nearness Diagram Navigation |
  vfh | Vector Field Histogram local navigation algorithm |
  gbxsmartbatteryacfr | Gearbox SmartBattery driver for OceanServer devices |
  amtecpowercube | Amtec PowerCube pan-tilt unit |
  canonvcc4 | Canon VC-C4 pan-tilt-zoom cameras |
  ptu46 | Directed Perceptions PTU-46-17.5 pan-tilt unit |
  sonyevid30 | Sony EVI-D30 and EVI-D100 pan-tilt-zoom cameras |
  SpherePTZ | PTZ for Logitech Sphere AF webcams (based on experiences with real device) |
  gbxsickacfr | Gearbox sickacfr SICK LMS driver library |
  hokuyoaist | HokuyoAIST Hokuyo laser scanner driver library |
  lasertoranger | Laser-to-Ranger converter |
  rangerposeinterpolator | Attach poses to ranger scans |
  RangerToLaser | Ranger-to-Laser converter |
  sonartoranger | Sonar-to-Ranger converter |
  acr_120u | ACR120U RFID reader |
  insideM300 | Inside M300 RFID reader |
  phidgetRFID | Phidget RFID reader |
  sickrfi341 | SICK RFI341 RFID reader |
  skyetekM1 | Skyetek M1 RFID reader |
  service_adv_mdns | Multicast DNS service discovery |
  cmdsplitter | Command flow splitter |
  diocmd | Dio commands sender |
  dummy | Dummy driver |
  gripcmd | Gripper commands sender |
  inhibitor | Command flow inhibitor |
  Driver_logger | KartoWriter |
  opaquecmd | Opaque commands sender |
  passthrough | General-purpose proxy driver |
  postlog | Driver for storing log data into PostgreSQL database |
  readlog | Playback of logged data |
  speechcmd | Speech commands sender |
  suppressor | Command flow suppressor |
  velcmd | Velocity commands sender |
  writelog | Logging data |
  AioToSonar | Array of analogue sonar sensors connected to an aio device |
  festival | Festival speech synthesis system |
  sphinx2 | Sphinx2 speech recognition system |
  stoc | STOC |
  PostGIS | Vectormap driver based on a Postgresql database with the PostGIS plugin |
  robotracker | Robot tracker that updates vectormap layer with shapes of given robots |
  Vec2Map | A driver to convert a vector map to a regular grid map |
  aodv | Linux AODV ad hoc networking |
  iwspy | Linux iwspy access |
  linuxwifi | Linux WiFi devices |
  accel_calib | Acceleration calibration driver |
  mica2 | Crossbow Mica2/Mica2Dot mote sensor node |
  phidgetACC | Phidget ACC |
  rcore_xbridge | TeCo Particle Router Core (XBridge) sensor node |
Client Data Modes | Describes the data modes used for delivering data from the server to the client |
gps | The gps proxy provides an interface to a GPS-receiver |