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Player/Stage
9 CONLUSION
9 Conlusion
Our primary goal was to enable Player/Stage to be used on the Scorpion robots. We have
succeeded in writing an ERSP Player driver that supports the basic features of the robots.
Although it is not complete, we believe that it is ready to be presented to the Player/Stage
community in the hope that it will help to make it more mature.
The process of developing the driver has uncovered several issues, most important the
problem of message queue and driver message publishing. Since we have not been able to
produce a satisfying solution for this issue, the driver should be considered experimentally
and a topic for future work.
To accomodate the lack of proper documentation on how to write a driver for Player, we
have created a tutorial that enables other to write their own Player driver. We hope that the
tutorial will encourage others to contribute to the work presented in this project.
We have documented how to use the driver with a comprehensive user manual. Our
focus regarding the user manual has been to make Player/Stage available to other students
at DIKU. In the review process of this paper, we have presented it to people at DIKU, which
has led to valuable feedback.
The driver and the user manual will benefit students at DIKU by providing new posibilities such as the Stage simulator. Our evaluation has shown modelling and simulation to be
invalueable when developing robot control program.
Much remains to be done to fully supporting the Scorpion robots. However, we consider
that the work presented in this project has shown that Player/Stage is a possible future
framework for robot research at DIKU.
Bue Petersen & Jonas Fonseca
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