In answer to the first question, yes you can use the index (the number after the interface) to distinguish between robots in teh way you describe. Alternatively you can also run each robot on a different port (see everything.cfg in the stage worlds directory for an example of the latter)

With regard to question 2, inter robot communication, I would advise you to search the mailing list history as this has been asked several times. The answer, of course, depends on what communication you want. If you want centralised broadcast communication of arbitrary data the simplerelay or localbb drivers are probably what you are looking for. If you want to communicate data about a robot such as position then the clients can simply subscribe to the other robots position interfaces. Finally if you want complex inter robot communication, then this is mostly outside the scope of player, either you can write a custom driver or interface, or use some other communications channel completely.


2009/4/16 Chris Cannon <>

I have two questions. The first is regarding controlling multiple robots in one simulated stage environment, I'm a bit confused as to how this would work. In the .cfg file when creating a driver for the robot, you say "provides [ "position2d:0" "laser:0" ]". Do these zero's correspond to the index of the robot you would like to control? For example, if I wanted another robot in the Stage simulation environment, I would create another driver and have the line "provides [ "position2d:1" "laser:1" ]"? Also, when connecting to these proxies from the Player client, I assume to control the position of the first robot I would have something like "Position2dProxy pp(&robot, 0)" and to connect to the second robot "Position2dProxy pp(&robot, 1)". Is this correct?

My other question, is communication supported between the robots? What I would like to do is have some kind of message passing between either local robots or all the robots. The website is unclear or hard to find this information.

Chris Cannon

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