This contains the port of Wifi model from stage-2.1.1 to libstage in Stage 3.x (svn rev 7729). The output of the wifi model is visualized as lines between robots within radio range as defined by the chosen model. The Friis and raytracing model have been tested (and the other models should be fine too). The wander controller example has been modified to subscribe to the wifi interface. Sample worlds/wifi.world and worlds/wifi.cfg files are provided. Some other files (world.cc, typetable.cc) were also modified to support the wifi model.