Interface specifications
[libplayercore]

All Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages. More...

Modules

 actarray
 

An array of actuators.


 aio
 

Analog I/O.


 audio
 

Audible tone emission / detection (deprecated).


 audiodsp
 

Audible tone emission / detection.


 audiomixer
 

Sound level control.


 blinkenlight
 

A blinking light.


 blobfinder
 

A visual blob-detection system.


 bumper
 

An array of bumpers.


 camera
 

Camera imagery.


 dio
 

Digital I/O.


 energy
 

Energy storage / consumption.


 fiducial
 

Fiducial (marker) detection.


 gps
 

Global positioning system.


 graphics2d
 

Two-dimensional graphics interface.


 graphics3d
 

Three-dimensional graphics interface.


 gripper
 

An actuated gripper.


 ir
 

Array of infrared rangers.


 joystick
 

Joystick control.


 laser
 

Laser range-finder.


 limb
 

A multi-jointed limb.


 localize
 

Multi-hypothesis planar localization system.


 log
 

Log read / write control.


 map
 

Access maps.


 mcom
 

Client - client communication.


 opaque
 

A generic interface for user-defined messages.


 planner
 

A planar path-planner.


 player
 

Player: the meta-device.


 position1d
 

A 1-D linear actuator.


 position2d
 

Planar mobile robot.


 position3d
 

A robot that moves in 3-D.


 power
 

Power system.


 ptz
 

Pan-tilt-zoom unit.


 simulation
 

A robot simulator.


 sonar
 

Array of ultrasonic rangers.


 sound
 

Play sound clips.


 speech
 

Speech synthesis.


 speech_recognition
 

Speech recognition.


 truth (deprecated)
 

Access to true state.


 waveform
 

Digital waveforms.


 wifi
 

WiFi signal information.


 rfid
 

RFID reader.


 wsn
 

Wireless Sensor Networks.



Detailed Description

All Player communication occurs through interfaces, which specify the syntax and semantics for a set of messages.

See the tutorial Interfaces, drivers, and devices for a discussion of what an interface is.

Below are the details. For each interface, the following is given:

It can be the case that a given message can be sent as data or in response to a request. A common example is geometry. For many devices geometry is fixed and so need only be requested once. For others geometry may change dynamically and so the device will publish it periodically.

Todo:
  • Normalize subtype names (PLAYER_PTZ_REQ_GEOM vs PLAYER_POSITION2D_REQ_GET_GEOM)
  • Normalize subtype numbers (PLAYER_POSITION2D_SET_ODOM = 6 and PLAYER_POSITION2D_RESET_ODOM = 5, while position3d has PLAYER_POSITION3D_REQ_SET_ODOM = 5 and PLAYER_POSITION_3D_REQ_RESET_ODOM = 6)

Last updated 12 September 2005 21:38:45