Documentation Status

stage

Package Summary

Documented

This package contains the Stage robot simulator, from the Player Project. This package provides Stage 3.2.2, with a minor patch.

This package also provides stageros, a ROS node that uses Stage.

stage

Package Summary

Documented

This package contains the Stage robot simulator, from the Player Project. This package provides the latest development version of Stage (git://github.com/rtv/Stage.git). See also the Stage project page at GitHub.

This package also provides stageros, a ROS node that uses Stage.

stage

Package Summary

Documented

This package contains the Stage robot simulator, from the Player Project. This package provides the latest development version of Stage (git://github.com/rtv/Stage.git). See also the Stage project page at GitHub.

This package also provides stageros, a ROS node that uses Stage.

Package Summary

Released Documented

Mobile robot simulator http://rtv.github.com/Stage

  • Maintainer: William Woodall <william AT osrfoundation DOT org>
  • Author: Richard Vaughan <vaughan AT sfu DOT ca>, Brian Gerkey <gerkey AT willowgarage DOT com>, Reed Hedges <hedges AT mobilerobots DOT com>, Andrew Howard <andrew.b.howard AT jpl.nasa DOT gov>, Toby Collett <tcollett AT plan9.net DOT nz>, Pooya Karimian <pooyak AT sfu DOT ca>, Jeremy Asher <jra11 AT sfu DOT ca>, Alex Couture-Beil <asc17 AT sfu DOT ca>, Geoff Biggs <git AT killbots DOT net>, Rich Mattes <jpgr87 AT github DOT com>, Abbas Sadat <abbas.sadat AT gmail DOT com>
  • License: GPL
  • External website: http://rtv.github.com/Stage
  • Bug / feature tracker: https://github.com/rtv/Stage/issues
  • Source: git https://github.com/ros-gbp/stage-release.git (branch: release/hydro/stage)

Package Summary

Released Continuous integration No API documentation

Mobile robot simulator http://rtv.github.com/Stage

  • Maintainer status: maintained
  • Maintainer: William Woodall <william AT osrfoundation DOT org>
  • Author: Richard Vaughan <vaughan AT sfu DOT ca>, Brian Gerkey <gerkey AT willowgarage DOT com>, Reed Hedges <hedges AT mobilerobots DOT com>, Andrew Howard <andrew.b.howard AT jpl.nasa DOT gov>, Toby Collett <tcollett AT plan9.net DOT nz>, Pooya Karimian <pooyak AT sfu DOT ca>, Jeremy Asher <jra11 AT sfu DOT ca>, Alex Couture-Beil <asc17 AT sfu DOT ca>, Geoff Biggs <git AT killbots DOT net>, Rich Mattes <jpgr87 AT github DOT com>, Abbas Sadat <abbas.sadat AT gmail DOT com>
  • License: GPL
  • External website: http://rtv.github.com/Stage

Package Summary

Released Continuous integration No API documentation

Mobile robot simulator http://rtv.github.com/Stage

  • Maintainer status: maintained
  • Maintainer: William Woodall <william AT osrfoundation DOT org>
  • Author: Richard Vaughan <vaughan AT sfu DOT ca>, Brian Gerkey <gerkey AT willowgarage DOT com>, Reed Hedges <hedges AT mobilerobots DOT com>, Andrew Howard <andrew.b.howard AT jpl.nasa DOT gov>, Toby Collett <tcollett AT plan9.net DOT nz>, Pooya Karimian <pooyak AT sfu DOT ca>, Jeremy Asher <jra11 AT sfu DOT ca>, Alex Couture-Beil <asc17 AT sfu DOT ca>, Geoff Biggs <git AT killbots DOT net>, Rich Mattes <jpgr87 AT github DOT com>, Abbas Sadat <abbas.sadat AT gmail DOT com>
  • License: GPL
  • External website: http://rtv.github.com/Stage

Package Summary

Released Continuous integration Documented

Mobile robot simulator http://rtv.github.com/Stage

  • Maintainer status: maintained
  • Maintainer: William Woodall <william AT osrfoundation DOT org>
  • Author: Richard Vaughan <vaughan AT sfu DOT ca>, Brian Gerkey <gerkey AT willowgarage DOT com>, Reed Hedges <hedges AT mobilerobots DOT com>, Andrew Howard <andrew.b.howard AT jpl.nasa DOT gov>, Toby Collett <tcollett AT plan9.net DOT nz>, Pooya Karimian <pooyak AT sfu DOT ca>, Jeremy Asher <jra11 AT sfu DOT ca>, Alex Couture-Beil <asc17 AT sfu DOT ca>, Geoff Biggs <git AT killbots DOT net>, Rich Mattes <jpgr87 AT github DOT com>, Abbas Sadat <abbas.sadat AT gmail DOT com>
  • License: GPL
  • External website: http://rtv.github.com/Stage
  • Bug / feature tracker: https://github.com/rtv/Stage/issues
  • Source: git https://github.com/ros-gbp/stage-release.git (branch: release/kinetic/stage)

External Documentation

For detailed documentation on the Stage .world file format, consult the Stage manual.

Nodes

stageros

The stageros node wraps the Stage 2-D multi-robot simulator, via libstage. Stage simulates a world as defined in a .world file. This file tells stage everything about the world, from obstacles (usually represented via a bitmap to be used as a kind of background), to robots and other objects.

This node only exposes a subset of Stage's functionality via ROS. Specifically, it finds the Stage models of type laser, and of type position, and maps these models to the ROS topics given below. If at least one laser and position model are not found, stageros exits.

Usage

stageros [-g runs headless] <world> [standard ROS args]

Parameters:

  • world : The Stage .world file to load.
  • -g : If set, this option will run stage as "headless," no GUI will be displayed.

World syntax

The .world file syntax is documented in the Stage manual. stageros only exposes models created by a subset of the .world file syntax, specifically laser and position models. For examples, see the world directory in the stage package.

Subscribed topics

If there is only one position model defined in the world file, all of these topics appear at the top namespace. However, if more than 1 position models exist, these topics are pushed down into their own namespaces, by prefixing the topics with robot_<i>/ , e.g., robot_0/cmd_vel etc.

cmd_vel geometry_msgs/Twist

  • velocity commands to differentially drive the position model of the robot

Published topics

If there is only one position model defined in the world file, all of these topics appear at the top namespace. However, if more than 1 position models exist, these topics are pushed down into their own namespaces, by prefixing the topics with robot_<i>/ , e.g., robot_0/cmd_vel etc.

odom (nav_msgs/Odometry)

  • odometry data from the position model.

base_scan (sensor_msgs/LaserScan)

  • scans from the laser model

base_pose_ground_truth (nav_msgs/Odometry)

  • ground truth pos

odom vs. base_pose_ground_truth

The odom topic gives simulated odometry, which is affected by settings in the .world file, which can change its origin and noise model (the transforms mentioned below use the same data); see the Stage documentation for details on changing this behavior. The base_pose_ground_truth topic always provides a perfect, globally referenced pose for the robot in the simulation, independent of .world file settings. The base_pose_ground_truth data is intended for testing purposes; it should not be used in robot control loops (because it's unrealistic).

Parameters

~base_watchdog_timeout (default: 0.2)

  • time (in seconds) after receiving the last command on cmd_vel before stopping a position model

tf transforms provided

base_linkbase_laser

  • transform from robot base to attached laser

base_footprintbase_link

  • identity transform

odombase_footprint

  • transform from odometric origin to base

Using Stage controllers

Stage supports the use of "controllers," which are chunks of code that control simulated robots from inside the simulator, instead of being on the other end of a ROS connection. There are some situations in which it can be advantageous to use Stage controllers. For a discussion of when and how to use Stage controllers, see this tutorial.

Report a Bug

Use trac to report bugs or request features. [View active tickets]

The ROS code which integrates with stage now lives in a separate package called stage_ros.

Report a Bug

https://github.com/ros-gbp/stage-release/issues

Wiki: stage (last edited 2015-01-22 02:22:23 by TullyFoote)