{"id":13831142,"url":"https://github.com/rtv/Stage","last_synced_at":"2025-07-09T13:32:04.044Z","repository":{"id":913974,"uuid":"675088","full_name":"rtv/Stage","owner":"rtv","description":"Mobile robot simulator","archived":false,"fork":false,"pushed_at":"2021-03-24T11:56:13.000Z","size":21791,"stargazers_count":401,"open_issues_count":28,"forks_count":175,"subscribers_count":39,"default_branch":"master","last_synced_at":"2024-11-20T12:46:58.684Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"rtv.github.com/Stage","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rtv.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"COPYING.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2010-05-19T13:40:02.000Z","updated_at":"2024-11-19T05:29:33.000Z","dependencies_parsed_at":"2022-08-16T11:25:23.666Z","dependency_job_id":null,"html_url":"https://github.com/rtv/Stage","commit_stats":null,"previous_names":[],"tags_count":5,"template":false,"template_full_name":null,"purl":"pkg:github/rtv/Stage","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rtv%2FStage","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rtv%2FStage/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rtv%2FStage/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rtv%2FStage/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rtv","download_url":"https://codeload.github.com/rtv/Stage/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rtv%2FStage/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264468065,"owners_count":23613027,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-04T10:01:19.783Z","updated_at":"2025-07-09T13:32:03.614Z","avatar_url":"https://github.com/rtv.png","language":"C++","readme":"# The Stage Simulator\nThis is the Stage README file, containing an introduction, license and citation information. Stage is a 2(.5)D robotics standalone simulator and can also be used as a C++ library to build your own simulation environment. Up-to-date **documentation can be found [here](https://codedocs.xyz/CodeFinder2/Stage/)**.\n\nFor release notes see RELEASE.txt\nFor installation notes see INSTALL.txt\n\nCopyright Richard Vaughan and contributors 1998-2011\nPart of the Player Project (http://playerstage.org)\n\n[![Build Status](https://travis-ci.org/CodeFinder2/Stage.svg?branch=master)](https://travis-ci.org/CodeFinder2/Stage)\n\n# License\nThis program is free software; you can redistribute it and/or modify\nit under the terms of the GNU General Public License version 2 as\npublished by the Free Software Foundation.\n\nThis program is distributed in the hope that it will be useful, but\nWITHOUT ANY WARRANTY; without even the implied warranty of\nMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\nGeneral Public License for more details.\n\nA copy of the license is included with the sourcecode in the file\n'COPYING\". Copying and redistribution is permitted only under the\nterms of the license.\n\n\n# Introduction\nStage is a robot simulator. It provides a virtual world populated by\nmobile robots and sensors, along with various objects for the robots\nto sense and manipulate.\n\nThere are three ways to use Stage:\n  1. The \"stage\" program: a standalone robot simulation program\nthat loads your robot control program from a library that you provide.\n  2. The Stage plugin for Player (libstageplugin) - provides a\npopulation of virtual robots for the popular Player networked robot\ninterface system.\n  3. Write your own simulator: the \"libstage\" C++ library makes it\neasy to create, run and customize a Stage simulation from inside your\nown programs.\n\n\n# Models\nStage provides several sensor and actuator models, including sonar\nor infrared rangers, scanning laser rangefinder, color-blob tracking,\nfiducial tracking, bumpers, grippers and mobile robot bases with\nodometric or global localization.\n\n\n# Design\nStage was designed with multi-agent systems in mind, so it provides\nfairly simple, computationally cheap models of lots of devices rather\nthan attempting to emulate any device with great fidelity. This design\nis intended to be useful compromise between conventional high-fidelity\nrobot simulations, the minimal simulations described by Jakobi [4], and\nthe grid-world simulations common in artificial life research [5]. We\nintend Stage to be just realistic enough to enable users to move\ncontrollers between Stage robots and real robots, while still being\nfast enough to simulate large populations. We also intend Stage to be\ncomprehensible to undergraduate students, yet sophisticated enough for\nprofessional reseachers.\n\nPlayer also contains several useful 'virtual devices'; including\nsome sensor pre-processing or sensor-integration algorithms that help\nyou to rapidly build powerful robot controllers. These are easy to use\nwith Stage.\n\n\n# Citations\nIf you use Stage in your work, we'd appreciate a citation. At the time of writing, the most suitable reference is either:\n- Richard Vaughan. \"Massively Multiple Robot Simulations in Stage\", Swarm Intelligence 2(2-4):189-208, 2008. Springer, [download PDF](http://autonomylab.org/doc/vaughan_si08.pdf)\n\nOr, if you are using Player/Stage:\n- Brian Gerkey, Richard T. Vaughan and Andrew Howard. \"The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems\" Proceedings of the 11th International Conference on Advanced Robotics, pages 317-323, Coimbra, Portugal, June 2003 (ICAR'03), [download PDF](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.pdf)\n\nPlease help us keep track of what's being used out there by correctly\nnaming the Player/Stage components you use. Player used on its own is\ncalled \"Player\". Player and Stage used together are referred to as\n\"the Player/Stage system\" or just \"Player/Stage\". When Stage is used\nwithout Player, it's just called \"Stage\". When the Stage library is\nused to create your own custom simulator, it's called \"libstage\" or\n\"the Stage library\". When Player is used with its 3D ODE-based\nsimulation backend, Gazebo, it's called Player/Gazebo. Gazebo without Player is just \"Gazebo\". All this software is part of the \"Player Project\".\n\n# Support\nFunding for Stage has been provided in part by:\n\n- DARPA (USA)\n- NASA (USA)\n- NSERC (Canada)\n- DRDC Suffield (Canada)\n- NSF (USA)\n- Simon Fraser University (Canada)\n\nNames\n-----\nThe names \"Player\" and \"Stage\" were inspired by the lines:\n\n  \u003e All the world's a stage,  \n  \u003e And all the men and women merely players\n\nfrom \"As You Like It\" by William Shakespeare.\n\n\nReferences\n----------\n[4] Nick Jakobi (1997) \"Evolutionary Robotics and the Radical Envelope\nof Noise Hypothesis\", Adaptive Behavior Volume 6, Issue 2. pp.325 -\n368.\n\n[5] Stuart Wilson (1985) \"Knowledge Growth in an Artificial Animal\",\nProceedings of the First International Conference on Genetic Agorithms\nand Their Applications.  Hillsdale, New Jersey. pp.16-23.\n","funding_links":[],"categories":["Miscellaneous","C++","排序","多项混杂"],"sub_categories":["多项混杂"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frtv%2FStage","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frtv%2FStage","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frtv%2FStage/lists"}