Interface codes
[Messaging basics]

An integer code is assigned to each interface. More...

Collaboration diagram for Interface codes:



#define PLAYER_DIO_CODE   20
 Data subtype: range scan.
#define PLAYER_RANGER_CODE   62
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_CODE   33
 Data subtype: range scan.
#define PLAYER_BLACKBOARD_CODE   64
 Data subtype: range scan.
#define PLAYER_WIFI_CODE   23
 Data subtype: range scan.
#define PLAYER_PLANNER_CODE   44
 Data subtype: range scan.
#define PLAYER_LOG_CODE   45
 Data subtype: range scan.
#define PLAYER_MCOM_CODE   26
 Data subtype: range scan.
#define PLAYER_SPEECH_CODE   12
 Data subtype: range scan.
#define PLAYER_IR_CODE   22
 Data subtype: range scan.
#define PLAYER_POSITION3D_CODE   30
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CODE   53
 Data subtype: range scan.
#define PLAYER_OPAQUE_CODE   51
 Data subtype: range scan.
#define PLAYER_VECTORMAP_CODE   63
 Data subtype: range scan.
#define PLAYER_JOYSTICK_CODE   49
 Data subtype: range scan.
#define PLAYER_AIO_CODE   21
 Data subtype: range scan.
#define PLAYER_GRIPPER_CODE   3
 Data subtype: range scan.
#define PLAYER_LIMB_CODE   54
 Data subtype: range scan.
#define PLAYER_CAMERA_CODE   40
 Data subtype: range scan.
#define PLAYER_LASER_CODE   6
 Data subtype: range scan.
#define PLAYER_HEALTH_CODE   59
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_CODE   10
 Data subtype: range scan.
#define PLAYER_RFID_CODE   56
 Data subtype: range scan.
#define PLAYER_PTZ_CODE   8
 Data subtype: range scan.
#define PLAYER_GRAPHICS3D_CODE   58
 Data subtype: range scan.
#define PLAYER_POSITION1D_CODE   52
 Data subtype: range scan.
#define PLAYER_GRAPHICS2D_CODE   55
 Data subtype: range scan.
#define PLAYER_IMU_CODE   60
 Data subtype: range scan.
#define PLAYER_GPS_CODE   13
 Data subtype: range scan.
#define PLAYER_BLOBFINDER_CODE   7
 Data subtype: range scan.
#define PLAYER_POWER_CODE   2
 Data subtype: range scan.
#define PLAYER_POSITION2D_CODE   4
 Data subtype: range scan.
#define PLAYER_LOCALIZE_CODE   25
 Data subtype: range scan.
#define PLAYER_PLAYER_CODE   1
 Data subtype: range scan.
#define PLAYER_WSN_CODE   57
 Data subtype: range scan.
#define PLAYER_POINTCLOUD3D_CODE   61
 Data subtype: range scan.
#define PLAYER_SIMULATION_CODE   31
 Data subtype: range scan.
#define PLAYER_SONAR_CODE   5
 Data subtype: range scan.
#define PLAYER_MAP_CODE   42
 Data subtype: range scan.
#define PLAYER_AUDIO_CODE   9
 Data subtype: range scan.
#define PLAYER_SPEECH_RECOGNITION_CODE   50
 Data subtype: range scan.
#define PLAYER_BUMPER_CODE   14
 Data subtype: range scan.
#define PLAYER_DIO_STRING   "dio"
 Data subtype: range scan.
#define PLAYER_DIO_DATA_VALUES   1
 Data subtype: range scan.
#define PLAYER_DIO_CMD_VALUES   1
 Data subtype: range scan.
#define PLAYER_RANGER_STRING   "ranger"
 Data subtype: range scan.
#define PLAYER_RANGER_DATA_RANGE   1
 Data subtype: range scan.
#define PLAYER_RANGER_DATA_RANGEPOSE   2
 Data subtype: pose-stamped range scan.
#define PLAYER_RANGER_DATA_INTNS   3
 Data subtype: intensity scan.
#define PLAYER_RANGER_DATA_INTNSPOSE   4
 Data subtype: pose-stamped intensity scan.
#define PLAYER_RANGER_DATA_GEOM   5
 Data subtype: sensor geometry.
#define PLAYER_RANGER_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_RANGER_REQ_POWER   2
 Request/reply subtype: power config.
#define PLAYER_RANGER_REQ_INTNS   3
 Request/reply subtype: intensity data config.
#define PLAYER_RANGER_REQ_SET_CONFIG   4
 Request/reply subtype: set configuration.
#define PLAYER_RANGER_REQ_GET_CONFIG   5
 Request/reply subtype: get configuration.
#define PLAYER_BLINKENLIGHT_STRING   "blinkenlight"
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_CMD_STATE   1
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_CMD_POWER   2
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_CMD_COLOR   3
 Data subtype: range scan.
#define PLAYER_BLINKENLIGHT_CMD_FLASH   4
 Data subtype: range scan.
#define PLAYER_BLACKBOARD_STRING   "blackboard"
 Data subtype: range scan.
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY   1
 Request/reply subtype: subscribe to key.
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY   2
 Request/reply subtype: unsubscribe from key.
#define PLAYER_BLACKBOARD_REQ_SET_ENTRY   3
 Request/reply subtype: set entry.
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP   4
 Request/reply subtype: subscribe to group.
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP   5
 Request/reply subtype: unsubscribe from group.
#define PLAYER_BLACKBOARD_DATA_UPDATE   1
 Data update reply.
#define PLAYER_WIFI_STRING   "wifi"
 Data subtype: range scan.
#define PLAYER_WIFI_REQ_MAC   1
 Request/reply subtype:.
#define PLAYER_WIFI_REQ_IWSPY_ADD   2
 Request/reply subtype:.
#define PLAYER_WIFI_REQ_IWSPY_DEL   3
 Request/reply subtype:.
#define PLAYER_WIFI_REQ_IWSPY_PING   4
 Request/reply subtype:.
#define PLAYER_WIFI_DATA_STATE   1
 Data subtype: state.
#define PLAYER_WIFI_QUAL_DBM   1
 link quality is in dBm
#define PLAYER_WIFI_QUAL_REL   2
 link quality is relative
#define PLAYER_WIFI_QUAL_UNKNOWN   3
 link quality is unknown
#define PLAYER_WIFI_MODE_UNKNOWN   0
 unknown operating mode
#define PLAYER_WIFI_MODE_AUTO   1
 driver decides the mode
#define PLAYER_WIFI_MODE_ADHOC   2
 ad hoc mode
#define PLAYER_WIFI_MODE_INFRA   3
 infrastructure mode (multi cell network, roaming)
#define PLAYER_WIFI_MODE_MASTER   4
 access point, master mode
#define PLAYER_WIFI_MODE_REPEAT   5
 repeater mode
#define PLAYER_WIFI_MODE_SECOND   6
 secondary/backup repeater
#define PLAYER_PLANNER_STRING   "planner"
 Data subtype: range scan.
#define PLAYER_PLANNER_DATA_STATE   1
 Data subtype: state.
#define PLAYER_PLANNER_CMD_GOAL   1
 Command subtype: state.
#define PLAYER_PLANNER_REQ_GET_WAYPOINTS   1
 Request subtype: get waypoints.
#define PLAYER_PLANNER_REQ_ENABLE   2
 Request subtype: enable / disable planner.
#define PLAYER_LOG_STRING   "log"
 Data subtype: range scan.
#define PLAYER_LOG_REQ_SET_WRITE_STATE   1
 Request/reply subtype: set write state.
#define PLAYER_LOG_REQ_SET_READ_STATE   2
 Request/reply subtype: set read state.
#define PLAYER_LOG_REQ_GET_STATE   3
 Request/reply subtype: get state.
#define PLAYER_LOG_REQ_SET_READ_REWIND   4
 Request/reply subtype: rewind.
#define PLAYER_LOG_REQ_SET_FILENAME   5
 Request/reply subtype: set filename to write.
#define PLAYER_LOG_TYPE_READ   1
 Types of log device: read.
#define PLAYER_LOG_TYPE_WRITE   2
 Types of log device: write.
#define PLAYER_MCOM_STRING   "mcom"
 Data subtype: range scan.
#define PLAYER_MCOM_REQ_PUSH   1
 request ids
#define PLAYER_MCOM_REQ_POP   2
 request ids
#define PLAYER_MCOM_REQ_READ   3
 request ids
#define PLAYER_MCOM_REQ_CLEAR   4
 request ids
#define PLAYER_MCOM_REQ_SET_CAPACITY   5
 request ids
#define MCOM_EMPTY_STRING   "(EMPTY)"
 returns this if empty
#define PLAYER_SPEECH_STRING   "speech"
 Data subtype: range scan.
#define PLAYER_SPEECH_CMD_SAY   1
 Command subtype: say a string.
#define PLAYER_IR_STRING   "ir"
 Data subtype: range scan.
#define PLAYER_IR_REQ_POSE   1
 Request/reply subtype: get pose.
#define PLAYER_IR_REQ_POWER   2
 Request/reply subtype: set power.
#define PLAYER_IR_DATA_RANGES   1
 Data subtype: ranges.
#define PLAYER_POSITION3D_STRING   "position3d"
 Data subtype: range scan.
#define PLAYER_POSITION3D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_POSITION3D_DATA_GEOMETRY   2
 Data subtype: geometry.
#define PLAYER_POSITION3D_CMD_SET_VEL   1
 Command subtype: velocity control.
#define PLAYER_POSITION3D_CMD_SET_POS   2
 Command subtype: position control.
#define PLAYER_POSITION3D_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_POSITION3D_REQ_MOTOR_POWER   2
 Request/reply subtype: motor power.
#define PLAYER_POSITION3D_REQ_VELOCITY_MODE   3
 Request/reply subtype: velocity mode.
#define PLAYER_POSITION3D_REQ_POSITION_MODE   4
 Request/reply subtype: position mode.
#define PLAYER_POSITION3D_REQ_RESET_ODOM   5
 Request/reply subtype: reset odometry.
#define PLAYER_POSITION3D_REQ_SET_ODOM   6
 Request/reply subtype: set odometry.
#define PLAYER_POSITION3D_REQ_SPEED_PID   7
 Request/reply subtype: set speed PID params.
#define PLAYER_POSITION3D_REQ_POSITION_PID   8
 Request/reply subtype: set position PID params.
#define PLAYER_POSITION3D_REQ_SPEED_PROF   9
 Request/reply subtype: set speed profile params.
#define PLAYER_ACTARRAY_STRING   "actarray"
 Data subtype: range scan.
#define PLAYER_ACTARRAY_REQ_POWER   1
 Data subtype: range scan.
#define PLAYER_ACTARRAY_REQ_BRAKES   2
 Data subtype: range scan.
#define PLAYER_ACTARRAY_REQ_GET_GEOM   3
 Data subtype: range scan.
#define PLAYER_ACTARRAY_REQ_SPEED   4
 Data subtype: range scan.
#define PLAYER_ACTARRAY_REQ_ACCEL   5
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_POS   1
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_MULTI_POS   2
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_SPEED   3
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_MULTI_SPEED   4
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_HOME   5
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_CURRENT   6
 Data subtype: range scan.
#define PLAYER_ACTARRAY_CMD_MULTI_CURRENT   7
 Data subtype: range scan.
#define PLAYER_ACTARRAY_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_ACTARRAY_ACTSTATE_IDLE   1
 Idle state code.
#define PLAYER_ACTARRAY_ACTSTATE_MOVING   2
 Moving state code.
#define PLAYER_ACTARRAY_ACTSTATE_BRAKED   4
 Braked state code.
#define PLAYER_ACTARRAY_ACTSTATE_STALLED   8
 Stalled state code.
#define PLAYER_ACTARRAY_TYPE_LINEAR   1
 Linear type code.
#define PLAYER_ACTARRAY_TYPE_ROTARY   2
 Rotary type code.
#define PLAYER_OPAQUE_STRING   "opaque"
 Data subtype: range scan.
#define PLAYER_OPAQUE_DATA_STATE   1
 Data subtype: generic state.
#define PLAYER_OPAQUE_CMD_DATA   1
 Cmd subtype: generic command.
#define PLAYER_OPAQUE_REQ_DATA   1
 Req subtype: generic request.
#define PLAYER_OPAQUE_REQ   PLAYER_OPAQUE_REQ_DATA
 Data subtype: range scan.
#define PLAYER_OPAQUE_CMD   PLAYER_OPAQUE_CMD_DATA
 Data subtype: range scan.
#define PLAYER_VECTORMAP_STRING   "vectormap"
 Data subtype: range scan.
#define PLAYER_VECTORMAP_REQ_GET_MAP_INFO   1
 Request/reply subtype: get vectormap meta-data.
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA   3
 Request/reply subtype: get layer data.
#define PLAYER_VECTORMAP_REQ_WRITE_LAYER   4
 Request/reply subtype: write layer data.
#define PLAYER_JOYSTICK_STRING   "joystick"
 Data subtype: range scan.
#define PLAYER_JOYSTICK_DATA_STATE   1
 Data subtype: state.
#define PLAYER_AIO_STRING   "aio"
 Data subtype: range scan.
#define PLAYER_AIO_CMD_STATE   1
 Data subtype: range scan.
#define PLAYER_AIO_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_GRIPPER_STRING   "gripper"
 Data subtype: range scan.
#define PLAYER_GRIPPER_DATA_STATE   1
 Data subtype: state.
#define PLAYER_GRIPPER_REQ_GET_GEOM   1
 Request subtype: get geometry.
#define PLAYER_GRIPPER_CMD_OPEN   1
 Command: Open (PLAYER_GRIPPER_CMD_OPEN).
#define PLAYER_GRIPPER_CMD_CLOSE   2
 Command: Close (PLAYER_GRIPPER_CMD_CLOSE).
#define PLAYER_GRIPPER_CMD_STOP   3
 Command: Stop (PLAYER_GRIPPER_CMD_STOP).
#define PLAYER_GRIPPER_CMD_STORE   4
 Command: Store (PLAYER_GRIPPER_CMD_STORE).
#define PLAYER_GRIPPER_CMD_RETRIEVE   5
 Command: Retrieve (PLAYER_GRIPPER_CMD_RETRIEVE).
#define PLAYER_GRIPPER_STATE_OPEN   1
 Gripper state: open.
#define PLAYER_GRIPPER_STATE_CLOSED   2
 Gripper state: closed.
#define PLAYER_GRIPPER_STATE_MOVING   3
 Gripper state: moving.
#define PLAYER_GRIPPER_STATE_ERROR   4
 Gripper state: error.
#define PLAYER_LIMB_STRING   "limb"
 Data subtype: range scan.
#define PLAYER_LIMB_STATE_IDLE   1
 Idle.
#define PLAYER_LIMB_STATE_BRAKED   2
 Brakes are on.
#define PLAYER_LIMB_STATE_MOVING   3
 Moving to target.
#define PLAYER_LIMB_STATE_OOR   4
 Target was out of reach.
#define PLAYER_LIMB_STATE_COLL   5
 Target was blocked by collision.
#define PLAYER_LIMB_DATA_STATE   1
 Data subtype: state.
#define PLAYER_LIMB_CMD_HOME   1
 Command: home (PLAYER_LIMB_HOME_CMD).
#define PLAYER_LIMB_CMD_STOP   2
 Command: stop (PLAYER_LIMB_STOP_CMD).
#define PLAYER_LIMB_CMD_SETPOSE   3
 Command subtype: set pose.
#define PLAYER_LIMB_CMD_SETPOSITION   4
 Command subtype: set position.
#define PLAYER_LIMB_CMD_VECMOVE   5
 Command subtype: vector move.
#define PLAYER_LIMB_REQ_POWER   1
 Request/reply: power.
#define PLAYER_LIMB_REQ_BRAKES   2
 Request/reply: brakes.
#define PLAYER_LIMB_REQ_GEOM   3
 Request/reply: geometry.
#define PLAYER_LIMB_REQ_SPEED   4
 Request/reply: speed.
#define PLAYER_CAMERA_STRING   "camera"
 Data subtype: range scan.
#define PLAYER_CAMERA_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_CAMERA_FORMAT_MONO8   1
 Image format : 8-bit monochrome.
#define PLAYER_CAMERA_FORMAT_MONO16   2
 Image format : 16-bit monochrome (network byte order).
#define PLAYER_CAMERA_FORMAT_RGB565   4
 Image format : 16-bit color (5 bits R, 6 bits G, 5 bits B).
#define PLAYER_CAMERA_FORMAT_RGB888   5
 Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
#define PLAYER_CAMERA_COMPRESS_RAW   0
 Compression method: raw.
#define PLAYER_CAMERA_COMPRESS_JPEG   1
 Compression method: jpeg.
#define PLAYER_LASER_STRING   "laser"
 Data subtype: range scan.
#define PLAYER_LASER_DATA_SCAN   1
 Data subtype: scan.
#define PLAYER_LASER_DATA_SCANPOSE   2
 Data subtype: pose-stamped scan.
#define PLAYER_LASER_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_LASER_REQ_SET_CONFIG   2
 Request/reply subtype: set configuration.
#define PLAYER_LASER_REQ_GET_CONFIG   3
 Request/reply subtype: get configuration.
#define PLAYER_LASER_REQ_POWER   4
 Request/reply subtype: set power.
#define PLAYER_LASER_REQ_GET_ID   5
 Request/reply subtype: get IDentification information.
#define PLAYER_LASER_REQ_SET_FILTER   6
 Request/reply subtype: set filter settings.
#define PLAYER_LASER_MAX_FILTER_PARAMS   8
 Filter setings.
#define PLAYER_LASER_FILTER_MEDIAN   1
 Data subtype: range scan.
#define PLAYER_LASER_FILTER_EDGE   2
 Data subtype: range scan.
#define PLAYER_LASER_FILTER_RANGE   3
 Data subtype: range scan.
#define PLAYER_LASER_FILTER_MEAN   4
 Data subtype: range scan.
#define PLAYER_HEALTH_STRING   "health"
 Data subtype: range scan.
#define PLAYER_HEALTH_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_STRING   "fiducial"
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_DATA_SCAN   1
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_REQ_GET_GEOM   1
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_REQ_GET_FOV   2
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_REQ_SET_FOV   3
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_REQ_GET_ID   7
 Data subtype: range scan.
#define PLAYER_FIDUCIAL_REQ_SET_ID   8
 Data subtype: range scan.
#define PLAYER_RFID_STRING   "rfid"
 Data subtype: range scan.
#define PLAYER_RFID_DATA_TAGS   1
 Data subtype.
#define PLAYER_RFID_REQ_POWER   1
 Request/reply: put the reader in sleep mode (0) or wake it up (1).
#define PLAYER_RFID_REQ_READTAG   2
 Request/reply: read data from the RFID tag - to be implemented.
#define PLAYER_RFID_REQ_WRITETAG   3
 Request/reply: write data to the RFID tag - to be implemented.
#define PLAYER_RFID_REQ_LOCKTAG   4
 Request/reply: lock data blocks of a RFID tag - to be implemented.
#define PLAYER_PTZ_STRING   "ptz"
 Data subtype: range scan.
#define PLAYER_PTZ_REQ_GENERIC   1
 Request/reply subtype: generic.
#define PLAYER_PTZ_REQ_CONTROL_MODE   2
 Request/reply subtype: control mode.
#define PLAYER_PTZ_REQ_GEOM   4
 Request/reply subtype: geometry.
#define PLAYER_PTZ_REQ_STATUS   5
 Request/reply subtype: status.
#define PLAYER_PTZ_DATA_STATE   1
 Data subtype: state.
#define PLAYER_PTZ_DATA_GEOM   2
 Data subtype: geometry.
#define PLAYER_PTZ_CMD_STATE   1
 Command subtype: state.
#define PLAYER_PTZ_VELOCITY_CONTROL   0
 Control mode, for use with PLAYER_PTZ_REQ_CONTROL_MODE.
#define PLAYER_PTZ_POSITION_CONTROL   1
 Control mode, for use with PLAYER_PTZ_REQ_CONTROL_MODE.
#define PLAYER_GRAPHICS3D_STRING   "graphics3d"
 Data subtype: range scan.
#define PLAYER_GRAPHICS3D_CMD_CLEAR   1
 Command subtype: clear the drawing area (send an empty message).
#define PLAYER_GRAPHICS3D_CMD_DRAW   2
 Command subtype: draw items.
#define PLAYER_GRAPHICS3D_CMD_TRANSLATE   3
 Command subtype: translate coordinate system.
#define PLAYER_GRAPHICS3D_CMD_ROTATE   4
 Command subtype: rotate coordinate system.
#define PLAYER_GRAPHICS3D_CMD_PUSH   5
 Command subtype: push current coordinate system onto stack.
#define PLAYER_GRAPHICS3D_CMD_POP   6
 Command subtype: pop coordinate system from stack to become current.
#define PLAYER_POSITION1D_STRING   "position1d"
 Data subtype: range scan.
#define PLAYER_POSITION1D_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_POSITION1D_REQ_MOTOR_POWER   2
 Request/reply subtype: motor power.
#define PLAYER_POSITION1D_REQ_VELOCITY_MODE   3
 Request/reply subtype: velocity mode.
#define PLAYER_POSITION1D_REQ_POSITION_MODE   4
 Request/reply subtype: position mode.
#define PLAYER_POSITION1D_REQ_SET_ODOM   5
 Request/reply subtype: set odometry.
#define PLAYER_POSITION1D_REQ_RESET_ODOM   6
 Request/reply subtype: reset odometry.
#define PLAYER_POSITION1D_REQ_SPEED_PID   7
 Request/reply subtype: set speed PID params.
#define PLAYER_POSITION1D_REQ_POSITION_PID   8
 Request/reply subtype: set position PID params.
#define PLAYER_POSITION1D_REQ_SPEED_PROF   9
 Request/reply subtype: set speed profile params.
#define PLAYER_POSITION1D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_POSITION1D_DATA_GEOM   2
 Data subtype: geometry.
#define PLAYER_POSITION1D_CMD_VEL   1
 Command subtype: velocity command.
#define PLAYER_POSITION1D_CMD_POS   2
 Command subtype: position command.
#define PLAYER_POSITION1D_STATUS_LIMIT_MIN   0
 Status byte: limit min.
#define PLAYER_POSITION1D_STATUS_LIMIT_CEN   1
 Status byte: limit center.
#define PLAYER_POSITION1D_STATUS_LIMIT_MAX   2
 Status byte: limit max.
#define PLAYER_POSITION1D_STATUS_OC   3
 Status byte: limit over current.
#define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE   4
 Status byte: limit trajectory complete.
#define PLAYER_POSITION1D_STATUS_ENABLED   5
 Status byte: enabled.
#define PLAYER_GRAPHICS2D_STRING   "graphics2d"
 Data subtype: range scan.
#define PLAYER_GRAPHICS2D_CMD_CLEAR   1
 Command subtype: clear the drawing area (send an empty message).
#define PLAYER_GRAPHICS2D_CMD_POINTS   2
 Command subtype: draw points.
#define PLAYER_GRAPHICS2D_CMD_POLYLINE   3
 Command subtype: draw a polyline.
#define PLAYER_GRAPHICS2D_CMD_POLYGON   4
 Command subtype: draw a polygon.
#define PLAYER_IMU_STRING   "imu"
 Data subtype: range scan.
#define PLAYER_IMU_DATA_STATE   1
 Data subtype: IMU position/orientation data.
#define PLAYER_IMU_DATA_CALIB   2
 Data subtype: Calibrated IMU data.
#define PLAYER_IMU_DATA_QUAT   3
 Data subtype: Quaternions orientation data.
#define PLAYER_IMU_DATA_EULER   4
 Data subtype: Euler orientation data.
#define PLAYER_IMU_REQ_SET_DATATYPE   1
 Request/reply subtype: set data type.
#define PLAYER_IMU_REQ_RESET_ORIENTATION   2
 Request/reply subtype: reset orientation.
#define PLAYER_GPS_STRING   "gps"
 Data subtype: range scan.
#define PLAYER_GPS_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_BLOBFINDER_STRING   "blobfinder"
 Data subtype: range scan.
#define PLAYER_BLOBFINDER_DATA_BLOBS   1
 Data subtype: range scan.
#define PLAYER_BLOBFINDER_REQ_SET_COLOR   1
 Data subtype: range scan.
#define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS   2
 Data subtype: range scan.
#define PLAYER_POWER_STRING   "power"
 Data subtype: range scan.
#define PLAYER_POWER_DATA_STATE   1
 Data subtype: voltage.
#define PLAYER_POWER_REQ_SET_CHARGING_POLICY_REQ   1
 Request subtype: set charging policy.
#define PLAYER_POWER_MASK_VOLTS   1
 bit masks for the player_power_data_t mask field
#define PLAYER_POWER_MASK_WATTS   2
 Data subtype: range scan.
#define PLAYER_POWER_MASK_JOULES   4
 Data subtype: range scan.
#define PLAYER_POWER_MASK_PERCENT   8
 Data subtype: range scan.
#define PLAYER_POWER_MASK_CHARGING   16
 Data subtype: range scan.
#define PLAYER_POSITION2D_STRING   "position2d"
 Data subtype: range scan.
#define PLAYER_POSITION2D_REQ_GET_GEOM   1
 Request/reply: geometry.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER   2
 Request/reply: Motor power.
#define PLAYER_POSITION2D_REQ_VELOCITY_MODE   3
 Request/reply: Change velocity control.
#define PLAYER_POSITION2D_REQ_POSITION_MODE   4
 Request/reply: Change control mode.
#define PLAYER_POSITION2D_REQ_SET_ODOM   5
 Request/reply: Set odometry.
#define PLAYER_POSITION2D_REQ_RESET_ODOM   6
 Request/reply: Reset odometry.
#define PLAYER_POSITION2D_REQ_SPEED_PID   7
 Request/reply: Set velocity PID parameters.
#define PLAYER_POSITION2D_REQ_POSITION_PID   8
 Request/reply: Set position PID parameters.
#define PLAYER_POSITION2D_REQ_SPEED_PROF   9
 Request/reply: Set linear speed profile parameters.
#define PLAYER_POSITION2D_DATA_STATE   1
 Data: state (PLAYER_POSITION2D_DATA_STATE).
#define PLAYER_POSITION2D_DATA_GEOM   2
 Data: geometry.
#define PLAYER_POSITION2D_CMD_VEL   1
 Command: velocity (PLAYER_POSITION2D_CMD_VEL).
#define PLAYER_POSITION2D_CMD_POS   2
 Command: position (PLAYER_POSITION2D_CMD_POS).
#define PLAYER_POSITION2D_CMD_CAR   3
 Command: carlike (PLAYER_POSITION2D_CMD_CAR).
#define PLAYER_POSITION2D_CMD_VEL_HEAD   4
 Command: vel/head (PLAYER_POSITION2D_CMD_VEL_HEAD).
#define PLAYER_LOCALIZE_STRING   "localize"
 Data subtype: range scan.
#define PLAYER_LOCALIZE_DATA_HYPOTHS   1
 Data subtype: pose hypotheses.
#define PLAYER_LOCALIZE_REQ_SET_POSE   1
 Request/reply subtype: set pose hypothesis.
#define PLAYER_LOCALIZE_REQ_GET_PARTICLES   2
 Request/reply subtype: get particle set.
#define PLAYER_PLAYER_STRING   "player"
 Data subtype: range scan.
#define PLAYER_PLAYER_REQ_DEVLIST   1
 Request/reply subtype: get device list.
#define PLAYER_PLAYER_REQ_DRIVERINFO   2
 Request/reply subtype: get driver info.
#define PLAYER_PLAYER_REQ_DEV   3
 Request/reply subtype: (un)subscribe to device.
#define PLAYER_PLAYER_REQ_DATA   4
 Configuration request: Get data.
#define PLAYER_PLAYER_REQ_DATAMODE   5
 Data subtype: range scan.
#define PLAYER_PLAYER_REQ_AUTH   7
 Data subtype: range scan.
#define PLAYER_PLAYER_REQ_NAMESERVICE   8
 Data subtype: range scan.
#define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE   10
 Data subtype: range scan.
#define PLAYER_PLAYER_SYNCH_OK   1
 Data subtype: range scan.
#define PLAYER_PLAYER_SYNCH_OVERFLOW   2
 Data subtype: range scan.
#define PLAYER_OPEN_MODE   1
 Device access mode: open.
#define PLAYER_CLOSE_MODE   2
 Device access mode: close.
#define PLAYER_ERROR_MODE   3
 Device access mode: error.
#define PLAYER_DATAMODE_PUSH   1
 Data delivery mode: Send data from all subscribed devices all the time (i.e.
#define PLAYER_DATAMODE_PULL   2
 Data delivery mode: Only on request, send data from all subscribed devices.
#define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT   0
 A replace rule can either accept, replace or ignore a message.
#define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE   1
 Data subtype: range scan.
#define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE   2
 Data subtype: range scan.
#define PLAYER_WSN_STRING   "wsn"
 Data subtype: range scan.
#define PLAYER_WSN_DATA_STATE   1
 Data subtypes.
#define PLAYER_WSN_CMD_DEVSTATE   1
 Command subtype: set device state.
#define PLAYER_WSN_REQ_POWER   1
 Request/reply: put the node in sleep mode (0) or wake it up (1).
#define PLAYER_WSN_REQ_DATATYPE   2
 Request/reply: change the data type to RAW or converted metric units.
#define PLAYER_WSN_REQ_DATAFREQ   3
 Request/reply: change the receiving data frequency.
#define PLAYER_POINTCLOUD3D_STRING   "pointcloud3d"
 Data subtype: range scan.
#define PLAYER_POINTCLOUD3D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_SIMULATION_STRING   "simulation"
 Data subtype: range scan.
#define PLAYER_SIMULATION_REQ_GET_POSE2D   1
 Request/reply subtype: set 2D pose.
#define PLAYER_SIMULATION_REQ_SET_POSE2D   2
 Request/reply subtype: get 2D pose.
#define PLAYER_SIMULATION_REQ_GET_POSE3D   3
 Request/reply subtype: set 2D pose.
#define PLAYER_SIMULATION_REQ_SET_POSE3D   4
 Request/reply subtype: get 2D pose.
#define PLAYER_SIMULATION_REQ_GET_PROPERTY   5
 Request/reply subtype: set property value.
#define PLAYER_SIMULATION_REQ_SET_PROPERTY   6
 Request/reply subtype: get property value.
#define PLAYER_SONAR_STRING   "sonar"
 Data subtype: range scan.
#define PLAYER_SONAR_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_SONAR_REQ_POWER   2
 Request/reply subtype: power.
#define PLAYER_SONAR_DATA_RANGES   1
 Data subtype: ranges.
#define PLAYER_SONAR_DATA_GEOM   2
 Data subtype: geometry.
#define PLAYER_MAP_STRING   "map"
 Data subtype: range scan.
#define PLAYER_MAP_DATA_INFO   1
 Data subtype: grid map metadata.
#define PLAYER_MAP_REQ_GET_INFO   1
 Request/reply subtype: get grid map metadata.
#define PLAYER_MAP_REQ_GET_DATA   2
 Request/reply subtype: get grid map tile.
#define PLAYER_MAP_REQ_GET_VECTOR   3
 Request/reply subtype: get vector map.
#define PLAYER_MAP_DATA_INFO   1
 Data subtype: grid map metadata.
#define PLAYER_AUDIO_STRING   "audio"
 Data subtype: range scan.
#define PLAYER_AUDIO_DATA_WAV_REC   1
 Data subtype: wav_rec_data, recorded data block.
#define PLAYER_AUDIO_DATA_SEQ   2
 Data subtype: seq_data, recorded sequence of notes.
#define PLAYER_AUDIO_DATA_MIXER_CHANNEL   3
 Data subtype: mixer_channel_data, audio channel levels.
#define PLAYER_AUDIO_DATA_STATE   4
 Data subtype: state_data, driver state data (eg playing, stopped, .
#define PLAYER_AUDIO_CMD_WAV_PLAY   1
 Command subtype: wav_play_cmd, play a raw data block, in structure player_audio_wav_t.
#define PLAYER_AUDIO_CMD_WAV_STREAM_REC   2
 Command subtype: wav_stream_rec_cmd, start/stop recording, data will be returned as data blocks.
#define PLAYER_AUDIO_CMD_SAMPLE_PLAY   3
 Command subtype: sample_play_cmd, play a pre stored audio sample.
#define PLAYER_AUDIO_CMD_SEQ_PLAY   4
 Command subtype: seq_play_cmd, play a sequence of tones.
#define PLAYER_AUDIO_CMD_MIXER_CHANNEL   5
 Command subtype: mixer_channel_cmd, audio channel levels.
#define PLAYER_AUDIO_REQ_WAV_REC   1
 Request subtype: wav_rec_req, record a fixed size data block, in structure player_audio_wav_t.
#define PLAYER_AUDIO_REQ_SAMPLE_LOAD   2
 Request subtype: sample_load_req, store a sample.
#define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE   3
 Request subtype: sample_retrieve_req, retrieve a stored sample.
#define PLAYER_AUDIO_REQ_SAMPLE_REC   4
 Request subtype: sample_rec_req, record a new sample.
#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST   5
 Request subtype: mixer_channel_list_req, request the list of channels.
#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL   6
 Request subtype: mixer_channel_level_req, request the channel levels.
#define PLAYER_AUDIO_STATE_STOPPED   0x00
 Driver states.
#define PLAYER_AUDIO_STATE_PLAYING   0x01
 Data subtype: range scan.
#define PLAYER_AUDIO_STATE_RECORDING   0x02
 Data subtype: range scan.
#define PLAYER_AUDIO_DESCRIPTION_BITS   0xFF
 Audio formats.
#define PLAYER_AUDIO_BITS   0x03
 Data subtype: range scan.
#define PLAYER_AUDIO_8BIT   0
 8 bit
#define PLAYER_AUDIO_16BIT   1
 16 bit
#define PLAYER_AUDIO_24BIT   2
 24 bit
#define PLAYER_AUDIO_MONO   0
 Mono.
#define PLAYER_AUDIO_STEREO   4
 Stereo.
#define PLAYER_AUDIO_FREQ   0x18
 Frequency.
#define PLAYER_AUDIO_FREQ_44k   0
 Data subtype: range scan.
#define PLAYER_AUDIO_FREQ_11k   8
 Data subtype: range scan.
#define PLAYER_AUDIO_FREQ_22k   16
 Data subtype: range scan.
#define PLAYER_AUDIO_FREQ_48k   24
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_BITS   0xFF00
 AUDIO format.
#define PLAYER_AUDIO_FORMAT_NULL   0x0000
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_RAW   0x0100
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_MP3   0x0200
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_OGG   0x0300
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_FLAC   0x0400
 Data subtype: range scan.
#define PLAYER_AUDIO_FORMAT_AAC   0x0500
 Data subtype: range scan.
#define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT   1
 Input audio channel.
#define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT   2
 Output audio channel.
#define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL   4
 Special audio channel.
#define PLAYER_SPEECH_RECOGNITION_STRING   "speech_recognition"
 Data subtype: range scan.
#define PLAYER_SPEECH_RECOGNITION_DATA_STRING   1
 Data subtype: recognized string.
#define PLAYER_BUMPER_STRING   "bumper"
 Data subtype: range scan.
#define PLAYER_BUMPER_DATA_STATE   1
 Data subtype: range scan.
#define PLAYER_BUMPER_DATA_GEOM   2
 Data subtype: range scan.
#define PLAYER_BUMPER_REQ_GET_GEOM   1
 Data subtype: range scan.
enum  player_graphics3d_draw_mode {
  PLAYER_DRAW_POINTS, PLAYER_DRAW_LINES, PLAYER_DRAW_LINE_STRIP, PLAYER_DRAW_LINE_LOOP,
  PLAYER_DRAW_TRIANGLES, PLAYER_DRAW_TRIANGLE_STRIP, PLAYER_DRAW_TRIANGLE_FAN, PLAYER_DRAW_QUADS,
  PLAYER_DRAW_QUAD_STRIP, PLAYER_DRAW_POLYGON
}
 

Drawmode: enumeration that defines the drawing mode.


typedef struct player_dio_data player_dio_data_t
 Data: input values (PLAYER_DIO_DATA_VALUES).
typedef struct player_dio_cmd player_dio_cmd_t
 Command: output values (PLAYER_DIO_CMD_VALUES).
typedef struct player_ranger_geom player_ranger_geom_t
 Data and Request/reply: Get geometry.
typedef struct
player_ranger_data_range 
player_ranger_data_range_t
 Data: range scan (PLAYER_RANGER_DATA_RANGE).
typedef struct
player_ranger_data_rangepose 
player_ranger_data_rangepose_t
 Data: pose-stamped range scan (PLAYER_RANGER_DATA_RANGEPOSE).
typedef struct
player_ranger_data_intns 
player_ranger_data_intns_t
 Data: intensity scan (PLAYER_RANGER_DATA_INTNS).
typedef struct
player_ranger_data_intnspose 
player_ranger_data_intnspose_t
 Data: post-stamped intensity scan (PLAYER_RANGER_DATA_INTNSPOSE).
typedef struct
player_ranger_power_config 
player_ranger_power_config_t
 Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER).
typedef struct
player_ranger_intns_config 
player_ranger_intns_config_t
 Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS).
typedef struct player_ranger_config player_ranger_config_t
 Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG).
typedef struct
player_blinkenlight_data 
player_blinkenlight_data_t
 Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the indicator light.
typedef struct
player_blinkenlight_cmd 
player_blinkenlight_cmd_t
 Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current state of the indicator light.
typedef struct
player_blinkenlight_cmd_power 
player_blinkenlight_cmd_power_t
 Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off.
typedef struct
player_blinkenlight_cmd_color 
player_blinkenlight_cmd_color_t
 Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light.
typedef struct
player_blinkenlight_cmd_flash 
player_blinkenlight_cmd_flash_t
 Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/off blink cycle in seconds and the ratio of light on/off time (0.0 to 1.0 ).
typedef struct player_wifi_link player_wifi_link_t
 Link information for one host.
typedef struct player_wifi_data player_wifi_data_t
 Data: state (PLAYER_WIFI_DATA_STATE).
typedef struct player_wifi_mac_req player_wifi_mac_req_t
 Request/reply:.
typedef struct
player_wifi_iwspy_addr_req 
player_wifi_iwspy_addr_req_t
 Request/reply:.
typedef struct player_planner_data player_planner_data_t
 Data: state (PLAYER_PLANNER_DATA_STATE).
typedef struct player_planner_cmd player_planner_cmd_t
 Command: state (PLAYER_PLANNER_CMD_GOAL).
typedef struct
player_planner_waypoints_req 
player_planner_waypoints_req_t
 Request/reply: Get waypoints.
typedef struct
player_planner_enable_req 
player_planner_enable_req_t
 Request/reply: Enable/disable robot motion.
typedef struct
player_log_set_write_state 
player_log_set_write_state_t
 Request/reply: Set write state.
typedef struct
player_log_set_read_state 
player_log_set_read_state_t
 Request/reply: Set playback state.
typedef struct
player_log_set_read_rewind 
player_log_set_read_rewind_t
 Request/reply: Rewind playback.
typedef struct player_log_get_state player_log_get_state_t
 Request/reply: Get state.
typedef struct
player_log_set_filename 
player_log_set_filename_t
 Request/reply: Set filename.
typedef struct player_mcom_data player_mcom_data_t
 A piece of data.
typedef struct player_mcom_config player_mcom_config_t
 Configuration request to the device.
typedef struct player_mcom_return player_mcom_return_t
 Configuration reply from the device.
typedef struct player_speech_cmd player_speech_cmd_t
 Command: say a string (PLAYER_SPEECH_CMD_SAY).
typedef struct player_ir_data player_ir_data_t
 Data: ranges (PLAYER_IR_DATA_RANGES).
typedef struct player_ir_pose player_ir_pose_t
 Request/reply: get pose.
typedef struct player_ir_power_req player_ir_power_req_t
 Request/reply: set power.
typedef struct
player_position3d_data 
player_position3d_data_t
 Data: state (PLAYER_POSITION3D_DATA_STATE).
typedef struct
player_position3d_cmd_pos 
player_position3d_cmd_pos_t
 Command: position (PLAYER_POSITION3D_CMD_SET_POS).
typedef struct
player_position3d_cmd_vel 
player_position3d_cmd_vel_t
 Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).
typedef struct
player_position3d_geom 
player_position3d_geom_t
 Request/reply: Query geometry.
typedef struct
player_position3d_power_config 
player_position3d_power_config_t
 Request/reply: Motor power.
typedef struct
player_position3d_position_mode_req 
player_position3d_position_mode_req_t
 Request/reply: Change position control.
typedef struct
player_position3d_velocity_mode_config 
player_position3d_velocity_mode_config_t
 Request/reply: Change velocity control.
typedef struct
player_position3d_set_odom_req 
player_position3d_set_odom_req_t
 Request/reply: Set odometry.
typedef struct
player_position3d_reset_odom_config 
player_position3d_reset_odom_config_t
 Request/reply: Reset odometry.
typedef struct
player_position3d_speed_pid_req 
player_position3d_speed_pid_req_t
 Request/reply: Set velocity PID parameters.
typedef struct
player_position3d_position_pid_req 
player_position3d_position_pid_req_t
 Request/reply: Set position PID parameters.
typedef struct
player_position3d_speed_prof_req 
player_position3d_speed_prof_req_t
 Request/reply: Set speed profile parameters.
typedef struct
player_actarray_actuator 
player_actarray_actuator_t
 Structure containing a single actuator's information.
typedef struct player_actarray_data player_actarray_data_t
 Data: state (PLAYER_ACTARRAY_DATA_STATE).
typedef struct
player_actarray_actuatorgeom 
player_actarray_actuatorgeom_t
 Actuator geometry.
typedef struct player_actarray_geom player_actarray_geom_t
 Request/reply: get geometry.
typedef struct
player_actarray_position_cmd 
player_actarray_position_cmd_t
 Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).
typedef struct
player_actarray_multi_position_cmd 
player_actarray_multi_position_cmd_t
 Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS).
typedef struct
player_actarray_speed_cmd 
player_actarray_speed_cmd_t
 Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED).
typedef struct
player_actarray_multi_speed_cmd 
player_actarray_multi_speed_cmd_t
 Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED).
typedef struct
player_actarray_home_cmd 
player_actarray_home_cmd_t
 Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).
typedef struct
player_actarray_current_cmd 
player_actarray_current_cmd_t
 Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT).
typedef struct
player_actarray_multi_current_cmd 
player_actarray_multi_current_cmd_t
 Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT).
typedef struct
player_actarray_power_config 
player_actarray_power_config_t
 Request/reply: Power.
typedef struct
player_actarray_brakes_config 
player_actarray_brakes_config_t
 Request/reply: Brakes.
typedef struct
player_actarray_speed_config 
player_actarray_speed_config_t
 Request/reply: Speed.
typedef struct
player_actarray_accel_config 
player_actarray_accel_config_t
 Request/reply: Acceleration.
typedef struct player_opaque_data player_opaque_data_t
 data
typedef struct
player_vectormap_feature_data 
player_vectormap_feature_data_t
 Vectormap feature data.
typedef struct
player_vectormap_layer_info 
player_vectormap_layer_info_t
 Data subtype: range scan.
typedef struct
player_vectormap_layer_data 
player_vectormap_layer_data_t
 Vectormap data.
typedef struct
player_vectormap_info 
player_vectormap_info_t
 Vectormap info.
typedef struct player_joystick_data player_joystick_data_t
 Data: state (PLAYER_JOYSTICK_DATA_STATE).
typedef struct player_aio_data player_aio_data_t
 Data: state (PLAYER_AIO_DATA_STATE).
typedef struct player_aio_cmd player_aio_cmd_t
 Command: state (PLAYER_AIO_CMD_STATE).
typedef struct player_gripper_data player_gripper_data_t
 Data: state (PLAYER_GRIPPER_DATA_STATE).
typedef struct player_gripper_geom player_gripper_geom_t
 Request/reply: get geometry.
typedef struct player_limb_data player_limb_data_t
 Data: state (PLAYER_LIMB_DATA).
typedef struct
player_limb_setpose_cmd 
player_limb_setpose_cmd_t
 Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE).
typedef struct
player_limb_setposition_cmd 
player_limb_setposition_cmd_t
 Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION).
typedef struct
player_limb_vecmove_cmd 
player_limb_vecmove_cmd_t
 Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE).
typedef struct
player_limb_power_req 
player_limb_power_req_t
 Request/reply: Power.
typedef struct
player_limb_brakes_req 
player_limb_brakes_req_t
 Request/reply: Brakes.
typedef struct player_limb_geom_req player_limb_geom_req_t
 Request/reply: get geometry.
typedef struct
player_limb_speed_req 
player_limb_speed_req_t
 Request/reply: Speed.
typedef struct player_camera_data player_camera_data_t
 Data: state (PLAYER_CAMERA_DATA_STATE).
typedef struct player_laser_data player_laser_data_t
 Data: scan (PLAYER_LASER_DATA_SCAN).
typedef struct
player_laser_data_scanpose 
player_laser_data_scanpose_t
 Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE).
typedef struct player_laser_geom player_laser_geom_t
 Request/reply: Get geometry.
typedef struct player_laser_config player_laser_config_t
 Request/reply: Get/set scan properties.
typedef struct
player_laser_power_config 
player_laser_power_config_t
 Request/reply: Turn power on/off.
typedef struct
player_laser_get_id_config 
player_laser_get_id_config_t
 Request/reply: Get IDentification information.
typedef struct
player_laser_set_filter_config 
player_laser_set_filter_config_t
 Request/reply: Set filter settings.
typedef struct player_health_cpu player_health_cpu_t
 Structure describing the cpu.
typedef struct player_health_memory player_health_memory_t
 Structure describing the memory.
typedef struct player_health_data player_health_data_t
 Structure describing the HEALTH's data packet.
typedef struct player_fiducial_item player_fiducial_item_t
 Info on a single detected fiducial.
typedef struct player_fiducial_data player_fiducial_data_t
 Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN).
typedef struct player_fiducial_geom player_fiducial_geom_t
 Request/reply: Get geometry.
typedef struct player_fiducial_fov player_fiducial_fov_t
 Request/reply: Get/set sensor field of view.
typedef struct player_fiducial_id player_fiducial_id_t
 Request/reply: Get/set fiducial ID.
typedef struct player_rfid_tag player_rfid_tag_t
 Structure describing a single RFID tag.
typedef struct player_rfid_data player_rfid_data_t
 Data.
typedef struct player_ptz_data player_ptz_data_t
 Data: state (PLAYER_PTZ_DATA_STATE).
typedef struct player_ptz_cmd player_ptz_cmd_t
 Command: state (PLAYER_PTZ_CMD_STATE).
typedef struct
player_ptz_req_status 
player_ptz_req_status_t
 Request/reply: Query pan/tilt status.
typedef struct player_ptz_geom player_ptz_geom_t
 Request/reply: Query geometry.
typedef struct
player_ptz_req_generic 
player_ptz_req_generic_t
 Request/reply: Generic request.
typedef struct
player_ptz_req_control_mode 
player_ptz_req_control_mode_t
 Request/reply: Control mode.
typedef enum
player_graphics3d_draw_mode 
player_graphics3d_draw_mode_t
 Drawmode: enumeration that defines the drawing mode.
typedef struct
player_graphics3d_cmd_draw 
player_graphics3d_cmd_draw_t
 Data: This interface produces no data.
typedef struct
player_graphics3d_cmd_translate 
player_graphics3d_cmd_translate_t
 Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordinate system.
typedef struct
player_graphics3d_cmd_rotate 
player_graphics3d_cmd_rotate_t
 Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system by a given angle around the given vector.
typedef struct
player_position1d_data 
player_position1d_data_t
 Data: state (PLAYER_POSITION1D_DATA_STATE).
typedef struct
player_position1d_cmd_vel 
player_position1d_cmd_vel_t
 Command: state (PLAYER_POSITION1D_CMD_VEL).
typedef struct
player_position1d_cmd_pos 
player_position1d_cmd_pos_t
 Command: state (PLAYER_POSITION1D_CMD_POS).
typedef struct
player_position1d_geom 
player_position1d_geom_t
 Request/reply: Query geometry.
typedef struct
player_position1d_power_config 
player_position1d_power_config_t
 Request/reply: Motor power.
typedef struct
player_position1d_velocity_mode_config 
player_position1d_velocity_mode_config_t
 Request/reply: Change velocity control.
typedef struct
player_position1d_reset_odom_config 
player_position1d_reset_odom_config_t
 Request/reply: Reset odometry.
typedef struct
player_position1d_position_mode_req 
player_position1d_position_mode_req_t
 Request/reply: Change control mode.
typedef struct
player_position1d_set_odom_req 
player_position1d_set_odom_req_t
 Request/reply: Set odometry.
typedef struct
player_position1d_speed_pid_req 
player_position1d_speed_pid_req_t
 Request/reply: Set velocity PID parameters.
typedef struct
player_position1d_position_pid_req 
player_position1d_position_pid_req_t
 Request/reply: Set position PID parameters.
typedef struct
player_position1d_speed_prof_req 
player_position1d_speed_prof_req_t
 Request/reply: Set linear speed profile parameters.
typedef struct
player_graphics2d_cmd_points 
player_graphics2d_cmd_points_t
 Data: This interface produces no data.
typedef struct
player_graphics2d_cmd_polyline 
player_graphics2d_cmd_polyline_t
 Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments between a set of points.
typedef struct
player_graphics2d_cmd_polygon 
player_graphics2d_cmd_polygon_t
 Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon.
typedef struct
player_imu_data_state 
player_imu_data_state_t
 Data: calibrated IMU data (PLAYER_IMU_DATA_STATE).
typedef struct
player_imu_data_calib 
player_imu_data_calib_t
 Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB).
typedef struct player_imu_data_quat player_imu_data_quat_t
 Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT).
typedef struct
player_imu_data_euler 
player_imu_data_euler_t
 Data: Euler orientation data (PLAYER_IMU_DATA_EULER).
typedef struct
player_imu_datatype_config 
player_imu_datatype_config_t
 Request/reply: change the data type to one of the predefined data structures.
typedef struct
player_imu_reset_orientation_config 
player_imu_reset_orientation_config_t
 Request/reply: Reset orientation.
typedef struct player_gps_data player_gps_data_t
 Data: state (PLAYER_GPS_DATA_STATE).
typedef struct
player_blobfinder_blob 
player_blobfinder_blob_t
 Structure describing a single blob.
typedef struct
player_blobfinder_data 
player_blobfinder_data_t
 Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS).
typedef struct
player_blobfinder_color_config 
player_blobfinder_color_config_t
 Request/reply: Set tracking color.
typedef struct
player_blobfinder_imager_config 
player_blobfinder_imager_config_t
 Configuration request: Set imager params.
typedef struct player_power_data player_power_data_t
 Data: voltage (PLAYER_POWER_DATA_STATE).
typedef struct
player_power_chargepolicy_config 
player_power_chargepolicy_config_t
 Request/reply: set charging policy.
typedef struct
player_position2d_data 
player_position2d_data_t
 position2d data
typedef struct
player_position2d_cmd_vel 
player_position2d_cmd_vel_t
 position 2d velocity command
typedef struct
player_position2d_cmd_pos 
player_position2d_cmd_pos_t
 position2d position command
typedef struct
player_position2d_cmd_car 
player_position2d_cmd_car_t
 position2d command setting velocity and steering angle
typedef struct
player_position2d_cmd_vel_head 
player_position2d_cmd_vel_head_t
 position2d command setting velocity and heading
typedef struct
player_position2d_geom 
player_position2d_geom_t
 position2d geom
typedef struct
player_position2d_power_config 
player_position2d_power_config_t
 position2d power config
typedef struct
player_position2d_velocity_mode_config 
player_position2d_velocity_mode_config_t
 position2d velocity mode config
typedef struct
player_position2d_position_mode_req 
player_position2d_position_mode_req_t
 position2d position mode request
typedef struct
player_position2d_set_odom_req 
player_position2d_set_odom_req_t
 set odometry
typedef struct
player_position2d_speed_pid_req 
player_position2d_speed_pid_req_t
 position2d speed PID req
typedef struct
player_position2d_position_pid_req 
player_position2d_position_pid_req_t
 position2d position pid req
typedef struct
player_position2d_speed_prof_req 
player_position2d_speed_prof_req_t
 speed prof req
typedef struct
player_localize_hypoth 
player_localize_hypoth_t
 Hypothesis format.
typedef struct player_localize_data player_localize_data_t
 Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS).
typedef struct
player_localize_set_pose 
player_localize_set_pose_t
 Request/reply: Set the robot pose estimate.
typedef struct
player_localize_particle 
player_localize_particle_t
 A particle.
typedef struct
player_localize_get_particles 
player_localize_get_particles_t
 Request/reply: Get particles.
typedef struct
player_device_devlist 
player_device_devlist_t
 Request/reply: Get the list of available devices.
typedef struct
player_device_driverinfo 
player_device_driverinfo_t
 Request/reply: Get the driver name for a particular device.
typedef struct player_device_req player_device_req_t
 Request/reply: (un)subscribe to a device.
typedef struct
player_device_datamode_req 
player_device_datamode_req_t
 Configuration request: Change data delivery mode.
typedef struct
player_device_auth_req 
player_device_auth_req_t
 Configuration request: Authentication.
typedef struct
player_device_nameservice_req 
player_device_nameservice_req_t
 Nameservice request.
typedef struct
player_add_replace_rule_req 
player_add_replace_rule_req_t
 Configuration request: Add client queue replace rule.
typedef struct player_wsn_node_data player_wsn_node_data_t
 Structure describing the WSN node's data packet.
typedef struct player_wsn_data player_wsn_data_t
 Data (PLAYER_WSN_DATA).
typedef struct player_wsn_cmd player_wsn_cmd_t
 Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's indicator lights or its buzzer/sounder (if equipped with one).
typedef struct
player_wsn_power_config 
player_wsn_power_config_t
 Request/reply: Put the node in sleep mode (0) or wake it up (1).
typedef struct
player_wsn_datatype_config 
player_wsn_datatype_config_t
 Request/reply: change the data type to RAW or converted engineering units.
typedef struct
player_wsn_datafreq_config 
player_wsn_datafreq_config_t
 Request/reply: Change data delivery frequency.
typedef struct
player_pointcloud3d_element 
player_pointcloud3d_element_t
 3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plus other corresponding information.
typedef struct
player_pointcloud3d_data 
player_pointcloud3d_data_t
 Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
typedef struct
player_simulation_data 
player_simulation_data_t
 Data.
typedef struct
player_simulation_cmd 
player_simulation_cmd_t
 Command.
typedef struct
player_simulation_pose2d_req 
player_simulation_pose2d_req_t
 Request/reply: get/set 2D pose of a named simulation object.
typedef struct
player_simulation_pose3d_req 
player_simulation_pose3d_req_t
 Request/reply: get/set 3D pose of a named simulation object.
typedef struct
player_simulation_property_req 
player_simulation_property_req_t
 Request/reply: get/set a property of a named simulation object.
typedef struct player_sonar_data player_sonar_data_t
 Data: ranges (PLAYER_SONAR_DATA_RANGES).
typedef struct player_sonar_geom player_sonar_geom_t
 Data AND Request/reply: geometry.
typedef struct
player_sonar_power_config 
player_sonar_power_config_t
 Request/reply: Sonar power.
typedef struct player_map_info player_map_info_t
 Data subtype: range scan.
typedef struct player_map_data player_map_data_t
 Request/reply: get grid map tile.
typedef struct
player_map_data_vector 
player_map_data_vector_t
 Request/reply: get vector map.
typedef struct player_audio_wav player_audio_wav_t
 Data: Raw audio data.
typedef struct
player_audio_seq_item 
player_audio_seq_item_t
 Player audio sequence item.
typedef struct player_audio_seq player_audio_seq_t
 Player audio sequence.
typedef struct
player_audio_mixer_channel 
player_audio_mixer_channel_t
 Player mixer channel.
typedef struct
player_audio_mixer_channel_list 
player_audio_mixer_channel_list_t
 Player mixer channels.
typedef struct
player_audio_mixer_channel_detail 
player_audio_mixer_channel_detail_t
 Player mixer channel detail.
typedef struct
player_audio_mixer_channel_list_detail 
player_audio_mixer_channel_list_detail_t
 Player mixer channels.
typedef struct player_audio_sample player_audio_sample_t
 Player audio sample.
typedef struct
player_audio_sample_item 
player_audio_sample_item_t
 Player audio sample selection.
typedef struct
player_audio_sample_rec_req 
player_audio_sample_rec_req_t
 Player audio sample record request.
typedef struct player_audio_state player_audio_state_t
 Player audio driver state.
typedef struct
player_speech_recognition_data 
player_speech_recognition_data_t
 Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN).
typedef struct player_bumper_data player_bumper_data_t
 Data: state (PLAYER_BUMPER_DATA_GEOM).
typedef struct player_bumper_define player_bumper_define_t
 The geometry of a single bumper.
typedef struct player_bumper_geom player_bumper_geom_t
 Data AND Request/reply: bumper geometry.

Detailed Description

An integer code is assigned to each interface.

See Interface specifications for detailed descriptions of each interface.


Define Documentation

#define PLAYER_AUDIO_CMD_MIXER_CHANNEL   5

Command subtype: mixer_channel_cmd, audio channel levels.

data is a player_audio_mixer_channel_list_t structure

#define PLAYER_AUDIO_CMD_SAMPLE_PLAY   3

Command subtype: sample_play_cmd, play a pre stored audio sample.

data is a player_audio_sample_item_t structure

#define PLAYER_AUDIO_CMD_SEQ_PLAY   4

Command subtype: seq_play_cmd, play a sequence of tones.

data is a player_audio_seq_t structure

#define PLAYER_AUDIO_CMD_WAV_PLAY   1

Command subtype: wav_play_cmd, play a raw data block, in structure player_audio_wav_t.

data is a player_audio_wav_t structure

#define PLAYER_AUDIO_CMD_WAV_STREAM_REC   2

Command subtype: wav_stream_rec_cmd, start/stop recording, data will be returned as data blocks.

data is a player_bool_t

#define PLAYER_AUDIO_DATA_MIXER_CHANNEL   3

Data subtype: mixer_channel_data, audio channel levels.

data is a player_audio_mixer_channel_list_t structure

#define PLAYER_AUDIO_DATA_SEQ   2

Data subtype: seq_data, recorded sequence of notes.

data is a player_audio_seq_t structure

#define PLAYER_AUDIO_DATA_STATE   4

Data subtype: state_data, driver state data (eg playing, stopped, .

..)

data is a player_audio_state_t structure

#define PLAYER_AUDIO_DATA_WAV_REC   1

Data subtype: wav_rec_data, recorded data block.

data is a player_audio_wav_t structure

#define PLAYER_AUDIO_DESCRIPTION_BITS   0xFF

Audio formats.

Raw Audio bit flags

#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL   6

Request subtype: mixer_channel_level_req, request the channel levels.

data is a player_audio_mixer_channel_list_t structure

#define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST   5

Request subtype: mixer_channel_list_req, request the list of channels.

data is a player_audio_mixer_channel_list_detail_t structure

#define PLAYER_AUDIO_REQ_SAMPLE_LOAD   2

Request subtype: sample_load_req, store a sample.

data is a player_audio_sample_t structure

#define PLAYER_AUDIO_REQ_SAMPLE_REC   4

Request subtype: sample_rec_req, record a new sample.

data is a player_audio_sample_item_t structure

#define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE   3

Request subtype: sample_retrieve_req, retrieve a stored sample.

data is a player_audio_sample_t structure

#define PLAYER_AUDIO_REQ_WAV_REC   1

Request subtype: wav_rec_req, record a fixed size data block, in structure player_audio_wav_t.

data is a player_audio_wav_t structure

#define PLAYER_BLACKBOARD_REQ_SET_ENTRY   3

Request/reply subtype: set entry.

#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP   4

Request/reply subtype: subscribe to group.

#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY   1

Request/reply subtype: subscribe to key.

#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP   5

Request/reply subtype: unsubscribe from group.

#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY   2

Request/reply subtype: unsubscribe from key.

#define PLAYER_CAMERA_FORMAT_MONO16   2

Image format : 16-bit monochrome (network byte order).

#define PLAYER_CAMERA_FORMAT_MONO8   1

Image format : 8-bit monochrome.

Referenced by SphereDriver::Setup().

#define PLAYER_CAMERA_FORMAT_RGB565   4

Image format : 16-bit color (5 bits R, 6 bits G, 5 bits B).

#define PLAYER_CAMERA_FORMAT_RGB888   5

Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).

Referenced by CameraUvc::Main(), ImageBase::ProcessMessage(), and SphereDriver::Setup().

#define PLAYER_DATAMODE_PULL   2

Data delivery mode: Only on request, send data from all subscribed devices.

A PLAYER_MSGTYPE_SYNCH packet follows each set of data. Request should be made automatically by client libraries when they begin reading.

#define PLAYER_DATAMODE_PUSH   1

Data delivery mode: Send data from all subscribed devices all the time (i.e.

when it's ready on the server).

#define PLAYER_GRIPPER_CMD_CLOSE   2

Command: Close (PLAYER_GRIPPER_CMD_CLOSE).

Tells the gripper to close.

Referenced by P2OS::ProcessMessage().

#define PLAYER_GRIPPER_CMD_OPEN   1

Command: Open (PLAYER_GRIPPER_CMD_OPEN).

Tells the gripper to open.

Referenced by P2OS::ProcessMessage().

#define PLAYER_GRIPPER_CMD_RETRIEVE   5

Command: Retrieve (PLAYER_GRIPPER_CMD_RETRIEVE).

Tells the gripper to retrieve a stored object (so that it can be put back into the world). The opposite of store.

#define PLAYER_GRIPPER_CMD_STOP   3

Command: Stop (PLAYER_GRIPPER_CMD_STOP).

Tells the gripper to stop.

Referenced by P2OS::ProcessMessage().

#define PLAYER_GRIPPER_CMD_STORE   4

Command: Store (PLAYER_GRIPPER_CMD_STORE).

Tells the gripper to store whatever it is holding.

#define PLAYER_LIMB_CMD_HOME   1

Command: home (PLAYER_LIMB_HOME_CMD).

Tells the end effector to return to its home position.

Referenced by P2OS::ProcessMessage().

#define PLAYER_LIMB_CMD_STOP   2

Command: stop (PLAYER_LIMB_STOP_CMD).

Tells the limb to stop moving immediatly.

Referenced by P2OS::ProcessMessage().

#define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT   0

A replace rule can either accept, replace or ignore a message.

#define PLAYER_PLAYER_REQ_DATA   4

Configuration request: Get data.

When the server is in a PLAYER_DATAMODE_PULL data delivery mode, the client can request a single round of data by sending a zero-argument request with type code PLAYER_PLAYER_REQ_DATA. The response will be a zero-length acknowledgement.

#define PLAYER_POSITION2D_CMD_CAR   3

Command: carlike (PLAYER_POSITION2D_CMD_CAR).

The position interface accepts carlike translational velocity + constant turn commands (speed and turning angle) for the robot's motors (only supported by some drivers).

Referenced by ER::ProcessMessage().

#define PLAYER_POSITION2D_CMD_POS   2

Command: position (PLAYER_POSITION2D_CMD_POS).

The position interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both).

Referenced by GarciaDriver::ProcessMessage().

#define PLAYER_POSITION2D_CMD_VEL   1

Command: velocity (PLAYER_POSITION2D_CMD_VEL).

The position interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both).

Referenced by SegwayRMP::ProcessMessage(), RFLEX::ProcessMessage(), P2OS::ProcessMessage(), Khepera::ProcessMessage(), GarciaDriver::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().

#define PLAYER_POSITION2D_CMD_VEL_HEAD   4

Command: vel/head (PLAYER_POSITION2D_CMD_VEL_HEAD).

The position interface accepts translational velocity + absolute heading commands (speed and angular position) for the robot's motors (only supported by some drivers).

#define PLAYER_POSITION2D_DATA_GEOM   2

Data: geometry.

This messages is published by drivers which can change their geometry at run time

#define PLAYER_POSITION2D_DATA_STATE   1

Data: state (PLAYER_POSITION2D_DATA_STATE).

The position interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

Referenced by SegwayRMP::Main(), RFLEX::Main(), ER::Main(), and ClodBuster::Main().

#define PLAYER_POSITION2D_REQ_GET_GEOM   1
#define PLAYER_POSITION2D_REQ_MOTOR_POWER   2

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION2D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().

#define PLAYER_POSITION2D_REQ_POSITION_MODE   4

Request/reply: Change control mode.

To change control mode, send a PLAYER_POSITION2D_REQ_POSITION_MODE request. Null response.

#define PLAYER_POSITION2D_REQ_POSITION_PID   8

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION2D_REQ_POSITION_PID request. Null response.

#define PLAYER_POSITION2D_REQ_RESET_ODOM   6

Request/reply: Reset odometry.

To reset the robot's odometry to $(x, y, yaw) = (0,0,0)$, send a PLAYER_POSITION2D_REQ_RESET_ODOM request. Null response.

Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().

#define PLAYER_POSITION2D_REQ_SET_ODOM   5

Request/reply: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION2D_REQ_SET_ODOM request. Null response.

Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), ER::ProcessMessage(), and ClodBuster::ProcessMessage().

#define PLAYER_POSITION2D_REQ_SPEED_PID   7

Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION2D_REQ_SPEED_PID request. Null response.

Referenced by ClodBuster::ProcessMessage().

#define PLAYER_POSITION2D_REQ_SPEED_PROF   9

Request/reply: Set linear speed profile parameters.

To set linear speed profile parameters, send a PLAYER_POSITION2D_REQ_SPEED_PROF request. Null response.

#define PLAYER_POSITION2D_REQ_VELOCITY_MODE   3

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION2D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position device remains the same. Null response.

The p2os driver offers two modes of velocity control: separate translational and rotational control and direct wheel control. When in the separate mode, the robot's microcontroller internally computes left and right wheel velocities based on the currently commanded translational and rotational velocities and then attenuates these values to match a nice predefined acceleration profile. When in the direct mode, the microcontroller simply passes on the current left and right wheel velocities. Essentially, the separate mode offers smoother but slower (lower acceleration) control, and the direct mode offers faster but jerkier (higher acceleration) control. Player's default is to use the direct mode. Set mode to zero for direct control and non-zero for separate control.

For the reb driver, 0 is direct velocity control, 1 is for velocity-based heading PD controller.

Referenced by RFLEX::ProcessMessage(), Khepera::ProcessMessage(), and ClodBuster::ProcessMessage().

#define PLAYER_RFID_REQ_LOCKTAG   4

Request/reply: lock data blocks of a RFID tag - to be implemented.

#define PLAYER_RFID_REQ_POWER   1

Request/reply: put the reader in sleep mode (0) or wake it up (1).

#define PLAYER_RFID_REQ_READTAG   2

Request/reply: read data from the RFID tag - to be implemented.

#define PLAYER_RFID_REQ_WRITETAG   3

Request/reply: write data to the RFID tag - to be implemented.

#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA   3

Request/reply subtype: get layer data.

#define PLAYER_VECTORMAP_REQ_GET_MAP_INFO   1

Request/reply subtype: get vectormap meta-data.

#define PLAYER_VECTORMAP_REQ_WRITE_LAYER   4

Request/reply subtype: write layer data.

#define PLAYER_WSN_REQ_DATAFREQ   3

Request/reply: change the receiving data frequency.

#define PLAYER_WSN_REQ_DATATYPE   2

Request/reply: change the data type to RAW or converted metric units.

#define PLAYER_WSN_REQ_POWER   1

Request/reply: put the node in sleep mode (0) or wake it up (1).


Typedef Documentation

Request/reply: Acceleration.

Send a PLAYER_ACTARRAY_REQ_ACCEL request to set the acceleration of a joint for all subsequent movements. Null response.

Request/reply: Brakes.

Send a PLAYER_ACTARRAY_REQ_BRAKES request to turn the brakes of all actuators in the array (that have them) on or off. Null response.

Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT).

Tells a joint/actuator to attempt to move with the given current.

Data: state (PLAYER_ACTARRAY_DATA_STATE).

The actuator array data packet.

Request/reply: get geometry.

Send a null PLAYER_ACTARRAY_REQ_GET_GEOM request to receive the geometry in this form.

Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).

Tells a joint/actuator (or the whole array) to go to home position.

Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT).

Tells all joints/actuators to attempt to move with the given current.

Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS).

Tells all joints/actuators to attempt to move to the given positions.

Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED).

Tells all joints/actuators to attempt to move with the given velocities.

Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).

Tells a joint/actuator to attempt to move to a requested position.

Request/reply: Power.

Send a PLAYER_ACTARRAY_REQ_POWER request to turn the power to all actuators in the array on or off. Be careful when turning power on that the array is not obstructed from its home position in case it moves to it (common behaviour). Null response.

Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED).

Tells a joint/actuator to attempt to move with the given speed.

Request/reply: Speed.

Send a PLAYER_ACTARRAY_REQ_SPEED request to set the speed of a joint for all subsequent movements. Null response.

Configuration request: Add client queue replace rule.

Allows the client to add a replace rule to their server queue. Replace rules define which messages will be replaced when new data arrives. If you are not updating frequently from ther server then the use of replace rules for data packets will stop any queue overflow messages

Each field in the request type corresponds to the equivalent field in the message header use -1 for a dont care value.

Command: state (PLAYER_AIO_CMD_STATE).

The aio interface allows for the voltage level on one output to be set

Data: state (PLAYER_AIO_DATA_STATE).

The aio interface returns data regarding the current state of the analog inputs.

Player mixer channel detail.

Describes the state of a mixer channel

Player mixer channels.

Describes the state of a set of mixer channels details

Player mixer channels.

Describes the state of a set of mixer channels

Player mixer channel.

Describes the state of a mixer channel

Player audio sample selection.

Describes a pre-stored audio sample index

Player audio sample record request.

Request to record a sample and store it locally.

Player audio sample.

Describes an audio sample, if the index is set to -1 the next available slot is used and the index is returned in the response.

Player audio sequence item.

This describes a single sequence element, the link field is used for chord type playback when a series of notes are to be played together. Set link to true for all but the last notes to be player together.

Player audio sequence.

Describes a sequence of notes to be played or which have been recieved

Player audio driver state.

Describes the current state of the audio driver. Usually only sent when state changes.

Data: Raw audio data.

This data is used in the PLAYER_AUDIO_CMD_WAV_PLAY, and returned as PLAYER_AUDIO_DATA_WAV_REC when stream recording is enabled

Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current state of the indicator light.

Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the indicator light.

Structure describing a single blob.

Request/reply: Set tracking color.

For some sensors (ie CMUcam), simple blob tracking tracks only one color. To set the tracking color, send a PLAYER_BLOBFINDER_REQ_SET_COLOR request with the format below, including the RGB color ranges (max and min). Values of -1 will cause the track color to be automatically set to the current window color. This is useful for setting the track color by holding the tracking object in front of the lens. Null response.

Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS).

The list of detected blobs, returned as data by blobfinder devices.

Configuration request: Set imager params.

Imaging sensors that do blob tracking generally have some sorts of image quality parameters that you can tweak. The following ones are implemented here:

  • brightness (0-255)
  • contrast (0-255)
  • auto gain (0=off, 1=on)
  • color mode (0=RGB/AutoWhiteBalance Off, 1=RGB/AutoWhiteBalance On, 2=YCrCB/AWB Off, 3=YCrCb/AWB On) To set the params, send a PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS request with the format below. Any values set to -1 will be left unchanged. Null response.

Data: state (PLAYER_BUMPER_DATA_GEOM).

The bumper interface gives current bumper state

Data AND Request/reply: bumper geometry.

To query the geometry of a bumper array, send a null PLAYER_BUMPER_GET_GEOM request. The response will be in this form. This message may also be sent as data with the subtype PLAYER_BUMPER_DATA_GEOM (e.g., from a robot whose bumper can move with respect to its body)

Configuration request: Authentication.

Todo:
Add support for this mechanism to libplayertcp. Right now, it's disabled.

If server authentication has been enabled (by providing '-key <key>' on the command-line); then each client must authenticate itself before otherwise interacting with the server. To authenticate, send a request with this format.

If the key matches the server's key then the client is authenticated, the server will reply with a zero-length acknowledgement, and the client can continue with other operations. If the key does not match, or if the client attempts any other server interactions before authenticating, then the connection will be closed immediately. It is only necessary to authenticate each client once.

Note that this support for authentication is NOT a security mechanism. The keys are always in plain text, both in memory and when transmitted over the network; further, since the key is given on the command-line, there is a very good chance that you can find it in plain text in the process table (in Linux try 'ps -ax | grep player'). Thus you should not use an important password as your key, nor should you rely on Player authentication to prevent bad guys from driving your robots (use a firewall instead). Rather, authentication was introduced into Player to prevent accidentally connecting one's client program to someone else's robot. This kind of accident occurs primarily when Stage is running in a multi-user environment. In this case it is very likely that there is a Player server listening on port 6665, and clients will generally connect to that port by default, unless a specific option is given.

This mechanism was never really used, and may be removed.

Configuration request: Change data delivery mode.

The Player server supports two data modes, described above. By default, the server operates in PLAYER_DATAMODE_PUSH mode. To switch to a different mode send a request with the format given below. The server's reply will be a zero-length acknowledgement.

Request/reply: Get the list of available devices.

It's useful for applications such as viewer programs and test suites that tailor behave differently depending on which devices are available. To request the list, send a null PLAYER_PLAYER_REQ_DEVLIST.

Request/reply: Get the driver name for a particular device.

To get a name, send a PLAYER_PLAYER_REQ_DRIVERINFO request that specifies the address of the desired device in the addr field. Set driver_name_count to 0 and leave driver_name empty. The response will contain the driver name.

Nameservice request.

Todo:
Update this structure and add support for it to libplayertcp. Right now it's disabled.

Request/reply: (un)subscribe to a device.

This is the most important request! Before interacting with a device, the client must request appropriate access. Valid access modes are:

  • PLAYER_OPEN_MODE : subscribe to the device. You will receive any data published by the device and you may send it commands and/or requests.
  • PLAYER_CLOSE_MODE : unsubscribe from the device.
  • PLAYER_ERROR_MODE : the requested access was not granted (only appears in responses)

To request access, send a PLAYER_PLAYER_REQ_DEV request that specifies the desired device address in the addr field and the desired access mode in access. Set driver_name_count to 0 and leave driver_name empty. The response will indicate the granted access in the access field and the name of the underyling driver in the driver_name field. Note that the granted access may not be the same as the requested access (e.g., if initialization of the driver failed).

Command: output values (PLAYER_DIO_CMD_VALUES).

The dio interface accepts 4-byte commands which consist of the ouput bitfield

Data: input values (PLAYER_DIO_DATA_VALUES).

The dio interface returns data regarding the current state of the digital inputs.

Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN).

The fiducial data packet (all fiducials).

Request/reply: Get/set sensor field of view.

The field of view of the fiducial device can be set using the PLAYER_FIDUCIAL_REQ_SET_FOV request (response will be null), and queried using a null PLAYER_FIDUCIAL_REQ_GET_FOV request.

Request/reply: Get geometry.

The geometry (pose and size) of the fiducial device can be queried by sending a null PLAYER_FIDUCIAL_REQ_GET_GEOM request.

Request/reply: Get/set fiducial ID.

Some fiducial finder devices display their own fiducial. Send a null PLAYER_FIDUCIAL_REQ_GET_ID request to get the identifier displayed by the fiducial.

Some devices can dynamically change the identifier they display. Send a PLAYER_FIDUCIAL_REQ_SET_ID request to set the currently displayed value. Make the request with the player_fiducial_id_t structure. The device replies with the same structure with the id field set to the value it actually used. You should check this value, as the device may not be able to display the value you requested.

Currently supported by the stg_fiducial driver.

Info on a single detected fiducial.

The fiducial data packet contains a list of these.

Data: state (PLAYER_GPS_DATA_STATE).

The gps interface gives current global position and heading information.

Todo:
: Review the units used here

Data: This interface produces no data.

Requests: This interface accepts no requests. Command: Draw points (PLAYER_GRAPHICS2D_CMD_POINTS) Draw some points.

Data: This interface produces no data.

Requests: This interface accepts no requests. Command: Draw points (PLAYER_GRAPHICS3D_CMD_POINTS) Draw some points.

Data: state (PLAYER_GRIPPER_DATA_STATE).

The gripper interface returns the current state of the gripper and information on a potential object in the gripper. state may be PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STAGE_MOVING or PLAYER_GRIPPER_STATE_ERROR. beams provides information on how far into the gripper an object is. For most grippers, this will be a bit mask, with each bit representing whether a beam has been interrupted or not.

Request/reply: get geometry.

The geometry (pose, outer size and inner size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.

Structure describing the HEALTH's data packet.

Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB).

The imu interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor.

Data: Euler orientation data (PLAYER_IMU_DATA_EULER).

The imu interface returns calibrated IMU values as well as orientation data as Euler angles.

Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT).

The imu interface returns calibrated IMU values as well as orientation data as quaternions.

Data: calibrated IMU data (PLAYER_IMU_DATA_STATE).

The imu interface returns the complete 3D coordinates + angles position in space, of the IMU sensor.

Request/reply: change the data type to one of the predefined data structures.

Send a PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated data, 3D pose and orientation, Euler orientation or Quaternions orientation in the data packet. Null response.

Request/reply: Reset orientation.

To reset the IMU's orientation, send a PLAYER_IMU_REQ_RESET_ORIENTATION request. Null response.

Data: ranges (PLAYER_IR_DATA_RANGES).

The ir interface returns range readings from the IR array.

Request/reply: get pose.

To query the pose of the IRs, send a null PLAYER_IR_POSE request.

Request/reply: set power.

To turn IR power on and off, send a PLAYER_IR_POWER request. Null response.

Data: state (PLAYER_JOYSTICK_DATA_STATE).

The joystick data packet, which contains the current state of the joystick

Request/reply: Get/set scan properties.

The scan configuration (resolution, aperture, etc) can be queried by sending a null PLAYER_LASER_REQ_GET_CONFIG request and modified by sending a PLAYER_LASER_REQ_SET_CONFIG request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible.

Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE).

A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken.

Data: scan (PLAYER_LASER_DATA_SCAN).

The basic laser data packet.

Request/reply: Get geometry.

The laser geometry (position and size) can be queried by sending a null PLAYER_LASER_REQ_GET_GEOM request.

Request/reply: Get IDentification information.

Send a PLAYER_LASER_REQ_GET_ID request to receive the laser's serial number or any other relevant identification information (assuming your hardware supports it).

Request/reply: Turn power on/off.

Send a PLAYER_LASER_REQ_POWER request to turn laser power on or off (assuming your hardware supports it).

Request/reply: Set filter settings.

Send a PLAYER_LASER_REQ_SET_FILTER request to set the laser's internal filter parameters (assuming your hardware supports it). Currently the finally settings can be applied to the SICK LMS400: a) median filter - PLAYER_LASER_FILTER_MEDIAN, no parameters b) edge filter - PLAYER_LASER_FILTER_EDGE, no parameters c) range filter - PLAYER_LASER_FILTER_RANGE p1 = BottomLimit (700-3000 in mm), p2 = TopLimit (700-3000 in mm) d) mean filter - PLAYER_LASER_FILTER_MEAN p1 = number of means (2-200)

Note: You can combine the filters as required. If several filters are active, then the filters act one after the other on the result of the previous filter. The processing in this case follows the following sequence: edge filter, median filter, range filter, mean filter.

Request/reply: Brakes.

Turn the brakes of the limb on or off by sending a PLAYER_LIMB_REQ_BRAKES request. Null response

Data: state (PLAYER_LIMB_DATA).

The limb data packet.

Request/reply: get geometry.

Query geometry by sending a null PLAYER_LIMB_REQ_GEOM reqest.

Request/reply: Power.

Turn the power to the limb by sending a PLAYER_LIMB_REQ_POWER request. Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). Null reponse

Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE).

Provides a fully-described pose (position, normal vector and orientation vector) for the end effector to move to.

Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION).

Set the position of the end effector without worrying about a specific orientation.

Request/reply: Speed.

Set the speed of the end effector for all subsequent movements by sending a PLAYER_LIMB_REQ_SPEED request. Null response.

Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE).

Move the end effector along the provided vector from its current position for the provided distance.

Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS).

The localize interface returns a data packet containing an an array of hypotheses.

Request/reply: Get particles.

To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null PLAYER_LOCALIZE_REQ_GET_PARTICLES request.

Hypothesis format.

Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the localize interface is capable of returning more that one hypothesis.

Request/reply: Set the robot pose estimate.

Set the current robot pose hypothesis by sending a PLAYER_LOCALIZE_REQ_SET_POSE request. Null response.

Request/reply: Get state.

To find out whether logging/playback is enabled or disabled, send a null PLAYER_LOG_REQ_GET_STATE request.

Request/reply: Set filename.

To set the name of the file to write to when logging, send a PLAYER_LOG_REQ_SET_FILENAME request. Null response.

Request/reply: Rewind playback.

To rewind log playback to beginning of logfile, send a PLAYER_LOG_REQ_SET_READ_REWIND request. Does not affect playback state (i.e., whether it is started or stopped. Null response.

Request/reply: Set playback state.

To start or stop data playback, send a PLAYER_LOG_REQ_SET_READ_STATE request. Null response.

Request/reply: Set write state.

To start or stop data logging, send a PLAYER_LOG_REQ_SET_WRITE_STATE request. Null response.

Request/reply: get grid map tile.

To request a grid map tile, send a PLAYER_MAP_REQ_GET_DATA request with the tile origin and size you want. Set data_count to 0 and leave the data field empty. The response will contain origin, size, and occupancy data for a tile. Note that the response tile may not be exactly the same as the tile you requested (e.g., your requested tile is too large or runs off the map).

Request/reply: get vector map.

A vector map is represented as line segments. To retrieve the vector map, send a null PLAYER_MAP_REQ_GET_VECTOR request.

Configuration request to the device.

A piece of data.

Configuration reply from the device.

Command: state (PLAYER_PLANNER_CMD_GOAL).

The planner interface accepts a new goal.

Data: state (PLAYER_PLANNER_DATA_STATE).

The planner interface reports the current execution state of the planner.

Request/reply: Enable/disable robot motion.

To enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.

Request/reply: Get waypoints.

To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.

Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.

3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plus other corresponding information.

Command: state (PLAYER_POSITION1D_CMD_POS).

The position1d interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both).

Command: state (PLAYER_POSITION1D_CMD_VEL).

The position1d interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both).

Data: state (PLAYER_POSITION1D_DATA_STATE).

The position interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION1D_REQ_GET_GEOM.

Request/reply: Change control mode.

To change the control mode, send a PLAYER_POSITION1D_REQ_POSITION_MODE reqeust. Null response.

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION1D_REQ_POSITION_PID request. Null response.

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION1D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Request/reply: Reset odometry.

To reset the robot's odometry to x = 0, send a PLAYER_POSITION1D_REQ_RESET_ODOM request. Null response.

Request/reply: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION1D_REQ_SET_ODOM request. Null response.

Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION1D_REQ_SPEED_PID request. Null response.

Request/reply: Set linear speed profile parameters.

To set linear speed profile parameters, send a PLAYER_POSITION1D_REQ_SPEED_PROF requst. Null response.

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION1D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position1d device remains the same. Null response.

Command: position (PLAYER_POSITION3D_CMD_SET_POS).

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

Data: state (PLAYER_POSITION3D_DATA_STATE).

This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION3D_GET_GEOM request.

Request/reply: Change position control.

To change control mode, send a PLAYER_POSITION3D_POSITION_MODE request. Null response.

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION3D_POSITION_PID request. Null response.

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION3D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Request/reply: Reset odometry.

To reset the robot's odometry to $(x,y,\theta) = (0,0,0)$, send a PLAYER_POSITION3D_RESET_ODOM request. Null response.

Request/reply: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_SET_ODOM request. Null response.

Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION3D_SPEED_PID request. Null response.

Request/reply: Set speed profile parameters.

To set speed profile parameters, send a PLAYER_POSITION3D_SPEED_PROF request. Null response.

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION3D_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d device remains the same. Null response.

Request/reply: set charging policy.

Send a PLAYER_ENERGY_SET_CHARGING_POLICY_REQ request to change the charging policy.

Data: voltage (PLAYER_POWER_DATA_STATE).

The power interface returns data in this format.

Command: state (PLAYER_PTZ_CMD_STATE).

The ptz interface accepts commands that set change the state of the unit. Note that the commands are absolute, not relative.

Data: state (PLAYER_PTZ_DATA_STATE).

The ptz interface returns data reflecting the current state of the Pan-Tilt-Zoom unit.

Request/reply: Query geometry.

To request ptz geometry, send a null PLAYER_PTZ_REQ_GEOM request.

Request/reply: Control mode.

To switch between position and velocity control (for those drivers that support it), send a PLAYER_PTZ_REQ_CONTROL_MODE request. Note that this request changes how the driver interprets forthcoming commands from all clients. Null response.

Request/reply: Generic request.

To send a unit-specific command to the unit, use the PLAYER_PTZ_REQ_GENERIC request. Whether data is returned depends on the command that was sent. The device may fill in "config" with a reply if applicable.

Request/reply: Query pan/tilt status.

To request pan/tilt status of the unit, send a null PLAYER_PTZ_REQ_STATUS request.

Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG).

Request and change the device's configuration.

Data: intensity scan (PLAYER_RANGER_DATA_INTNS).

A set of intensity readings.

Data: post-stamped intensity scan (PLAYER_RANGER_DATA_INTNSPOSE).

An intensity scan with the (possibly estimated) pose of the device when the scan was acquired.

Data: range scan (PLAYER_RANGER_DATA_RANGE).

The basic ranger scan data packet, containing a set of range readings.

Data: pose-stamped range scan (PLAYER_RANGER_DATA_RANGEPOSE).

A range scan with the (possibly estimated) pose of the device when the scan was acquired.

Data and Request/reply: Get geometry.

(PLAYER_RANGER_REQ_GET_GEOM)

The ranger device position, orientation and size.

Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS).

If the device is capable of providing intensity information (such as laser reflection intensity or IR voltage), this will enable the transmission of the data in the PLAYER_RANGER_DATA_INTNS data message.

Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER).

If the device supports it, use this message to turn the power on or off.

Data.

The RFID data packet.

Structure describing a single RFID tag.

Command.

Just a placeholder for now; data will be added in future.

Data.

Just a placeholder for now; data will be added in future.

Request/reply: get/set 2D pose of a named simulation object.

To retrieve the pose of an object in a simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE2D request. To set the pose of an object in a simulator, send a PLAYER_SIMULATION_REQ_SET_POSE2D request (response will be null).

Request/reply: get/set 3D pose of a named simulation object.

To retrieve the pose of an object in a 3D simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE3D request. To set the pose of an object in a 3D simulator, send a PLAYER_SIMULATION_REQ_SET_POSE3D request (response will be null).

Request/reply: get/set a property of a named simulation object.

To retrieve an property of an object in a simulator, send a
To retrieve an property of an object in a simulator, send a
PLAYER_SIMULATION_REQ_GET_PROPERTY request. The server will reply with the value array filled in. The type of the data varies by property and it is up to the caller to cast the data to the correct type: see the warning below.
To set a property, send a completely filled in
PLAYER_SIMULATION_REQ_SET_PROPERTY request. The server will respond with an ACK if the property was successfully set to your value, else a NACK.
**WARNING** Types are architecture-dependent, so this feature may
not work correctly if the simulator is running on a different architecture than your client. The value bytes are transmitted as a raw binary object: no architecture-specific type conversions are performed. Use with caution.

Data: ranges (PLAYER_SONAR_DATA_RANGES).

The sonar interface returns up to PLAYER_SONAR_MAX_SAMPLES range readings from a robot's sonars.

Data AND Request/reply: geometry.

To query the geometry of the sonar transducers, send a null PLAYER_SONAR_REQ_GET_GEOM request. Depending on the underlying driver, this message can also be sent as data with the subtype PLAYER_SONAR_DATA_GEOM.

Request/reply: Sonar power.

On some robots, the sonars can be turned on and off from software. To do so, send a PLAYER_SONAR_REQ_POWER request. Null response.

Command: say a string (PLAYER_SPEECH_CMD_SAY).

The speech interface accepts a command that is a string to be given to the speech synthesizer.

Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN).

The speech recognition data packet.

Vectormap feature data.

Vectormap info.

Data: state (PLAYER_WIFI_DATA_STATE).

The complete data packet format.

Link information for one host.

The wifi interface returns data regarding the signal characteristics of remote hosts as perceived through a wireless network interface; this is the format of the data for each host.

Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's indicator lights or its buzzer/sounder (if equipped with one).

Data (PLAYER_WSN_DATA).

The WSN data packet describes a wireless sensor network node.

Request/reply: Change data delivery frequency.

By default, the frequency set for receiving data is set on the wireless node. Send a PLAYER_WSN_REQ_DATAFREQ request to change the frequency. Fill in the node ID or set -1 for all nodes. Null response.

Request/reply: change the data type to RAW or converted engineering units.

Send a PLAYER_WSN_REQ_DATATYPE request to switch between RAW or converted engineering units values in the data packet. Null response.

Structure describing the WSN node's data packet.

Request/reply: Put the node in sleep mode (0) or wake it up (1).

Send a PLAYER_WSN_REQ_POWER request to power or wake up a node in the WSN. Null response.


Last updated 12 September 2005 21:38:45