STAGE-ING THE COUP

USING STAGE WITH A SINGLE WORLD FILE

Stage 3.0.0 onwards, there is facility of 'Stage Controllers' and simulations can be realised with a single world file (and an image file). Thus instead of using inc, cfg  and world files, a single world file will suffice for most simulations. Information about the robot design, sensors, environment etc are all included in the world file.

As an example I try to get the default simulation in Player/Stage down to a single world file. Thus instead of using 6 scripts; simple.world, simple.cfg, map.inc, sick.inc and pioneer.inc, I use only one script simple-standalone.world. 

On running the world file;

stage simple-standalone.world

and the well know window with the little red robot pops up ! .....

This simulation uses wander controller. One of the lopsides to this is that the C++ programs (and Python scripts) for robot motion planning and behaviour, i.e. laserobstacleavoid, sonarobstacleavoid cannot be used. However, stage behaves as autonomous - no coding - no player.

NOTE  

1. Simulations done on Stage 3.2.2

CODES 

1. Codes for the simulation can be found here