© Copyright 2006-2007 White Box Robotics Inc. and Frontline Robotics Inc
STAGE - Simulated Robot Environment
Stage simulates a population of mobile robots, with operational sensors and objects in a two-
dimensional bitmapped environment.
There are a number of files required to create a simulated environment:
.cfg files
– (see previous Player chapter) the player configuration file defines what Stage will simulate
and what drivers will be called. It also refers to the ‘.world’ file that will be used for the models and
maps.
.world files
– lists the map that will be used, the robot/sensor models (devices) that will be used as
well as initial locations of each model.
.inc files
– Device definitions for the robots, sensors, maps, etc. This is where you define how the
objects look.
Examples of these files can be found in this directory:
~/stage-2.0.3/worlds
A number of sample files have been created for the 914 PC-BOT and can be found in the above
directory. Reading through these and seeing what the result is in Stage is the optimum way to
understand how to change/create them to fit with your own project work.