ROOMBA iROBOT SIMULATOR FOR PLAYER STAGE - Release 0.1 Beta for Linux

        (C) 2005 Dario Lodi Rizzini, Simone Scaffardi
	Dipartimento di Ingegneria dell'Informazione - Università di Parma


INTRODUCTION
============

This package contains a simple C++ model of robot Roomba Vacuum Cleaner (C) iRobot 
for Player-Stage framework. The model is made of C++ classes for client command 
to the robot, the robot data in configure and world file as required by Player 
sintax. 


LICENSE
=======

The Roomba Model is FREE software; you can redistribute or
modify it according to the terms of GNU General Public License,
included with this package in the file COPYING.  Static and dynamic
libraries produced from this source code are distributable under the
terms of GNU Library General Public License, included with this
package in the file COPYING.LIB.
 
This package is distributed without any warranty, including but not
limited to the implied warranties of merchantability or fitness for
a particular purpose. See GNU licenses for details. 

Thanks to the Stanford AI Lab, the USC Robotics Research Lab, 
the Simon Fraser Autonomy Lab and the other developers of Player/Stage. 
Their examples are used here in the terms granted by GNU General Public License.


SYSTEM REQUIREMENTS
===================

To use and compile this model you will need: 

- a Player/Stage framework (this model was tested with Player v1.6.2) avalaible at: 
  http://playerstage.sourceforge.net


LIBRARY INSTALLATION AND USAGE
==============================

To use the simulation model:

1) Unzip the package in a directory (say <root>): 

     $ tar xzf roomba.tar.gz

2) Go into <root>/roomba/client and open Makefile. Modify the make environment 
   variables INCS and LIBS defined here setting your player-client include 
   and library path. Examples:

   INCS = -I<your path>/player-1.6.2/client_libs/c++
   LIBS = -L<your path>/player-1.6.2/client_libs/c++

3) Type:

     $ make
 
   The roombamove client application is compiled now.

4) Be sure that PATH environment variable (check .bashrc in home directory if you
   are using BASH) is set to Player path. 
   Then go to <root>/roomba/world directory and type:

     $ player roomba.cfg

5) In another terminal in <root>/roomba/client directory type:

     $ ./roombamove


BUGS
====

- By now not any bug is known.


TODO
====

This model is very simple: it tries to simulate the more complex behaviors of Roomba
but there are many other behaviors not implemented yet. 


CONTACT
=======

For help and bug reports, please contact me at email address:

	D. Lodi Rizzini: rizzini@ce.unipr.it


