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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<!--
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Name : Veridical
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<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>STDR Simulator</title>
<meta name="keywords" content="" />
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<body>
<div id="header-wrapper">
<div id="header" class="container" align='center'>
<table width='90%'>
<tr>
<td>
<div class="title">
<h2>S.T.D.R. Simulator</h2><br>
<span class="byline">(Simple Two Dimensional Robot Simulator)</span>
</div>
</td>
<td align='center' width='50%'>
<div id="logo">
<a href="#"><img src='images/logo.png'/ width='150px'></a>
</div>
</td>
</tr>
</table>
<div class="content">
<div id="portfolio" class="container">
<hr>
<div class="pbox1">
<div class="column1" align='center'>
<div class="box">
<span>
<a href='#' id='description_id'>
<img src='images/logo.png'/ width='60px'>
</a>
</span>
<h3>What is STDR?</h3><br>
<a href='#' id='description_id_2'>
<p class='button-link'>
General description
</p>
</a>
</div>
</div>
<div class="column2">
<div class="box">
<span>
<a href='http://wiki.ros.org/stdr_simulator' target="_blank">
<img src='images/ros_enabled.png'/ width='60px'>
</a>
</span>
<h3>Is STDR in ROS ecosystem?</h3><br>
<a href="http://wiki.ros.org/stdr_simulator" target="_blank">
<p class='button-link'>
Official ROS wiki page
</p>
</a>
</div>
</div>
<div class="column3">
<div class="box">
<span>
<a href='#' id='download_id_2'>
<img src='images/download.png'/ width='60px'>
</a>
</span>
<h3>How can I download it?</h3><br>
<a href='#' id='download_id'>
<p class='button-link'>
Ways to get STDR Simulator
</p>
</a>
</div>
</div>
<div class="column4">
<div class="box">
<span>
<a href='#' id='multimedia_id_2'>
<img src='images/look.png'/ width='60px'>
</a>
</span>
<h3>What does it look like?</h3><br>
<a href='#' id='multimedia_id'>
<p class='button-link'>Gallery</p>
</a>
</div>
</div>
</div>
<hr>
<div class="pbox2">
<div class="column1">
<div class="box">
<span>
<a href='#' id='tutorials_id_2'>
<img src='images/pignon.png'/ width='60px'>
</a>
</span>
<h3>How can I use it?</h3><br>
<a href='#' id='tutorials_id'><p class='button-link'>Tutorials</p></a>
</div>
</div>
<div class="column2">
<div class="box">
<span>
<a href='#' id='contribute_id_2'>
<img src='images/contribute.png'/ width='60px'>
</a>
</span>
<h3>Functionality status</h3><br>
<a href='#' id='contribute_id'><p class='button-link'>... and ways to contribute</p></a>
</div>
</div>
<div class="column3">
<div class="box">
<span>
<a href='#' id='contact_id_2'>
<img src='images/contact.png'/ width='60px'>
</a>
</span>
<h3>How can I contact you?</h3><br>
<a href='#' id='contact_id'><p class='button-link'>Contact information</p></a>
</div>
</div>
<div class="column4">
<div class="box">
<h3>Do you use STDR Simulator?</h3><br>
<p><script type="text/javascript" src="http://www.ohloh.net/p/712579/widgets/project_users.js?style=green"></script></script></p>
</div>
</div>
</div>
</div>
<!--
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-->
<!--
Hidden displays
-->
<div id="content_description" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>What is STDR Simulator?</h2><br>
<span class="byline">General Description</span>
</div>
<div>
<p style="text-align: justify;">
Simple Two Dimentional Robot Simulator (STDR Simulator) is a 2-D multi-robot Unix simulator. Its goals are :
</p>
<h3 style="text-align: justify;">
Easy multi-robot 2-D simulation
</h3>
<br>
<p style="text-align: justify;"> STDR Simulator's goal is not to be the most realistic simulator, or the one with the most functionalities. Our intention is to make a single robot's, or a swarm's simulation as simple as possible, by minimizing the needed actions the researcher has to perform to start his/hers experiment. In addition, STDR can function with or without a graphical environment, which allows for experiments to take place even using ssh connections.</p>
<h3 style="text-align: justify;">
To be ROS compliant
</h3>
<br>
<p style="text-align: justify;">STDR Simulator is created in way that makes it totally ROS compliant. Every robot and sensor emits a ROS transformation (tf) and all the measurements are published in ROS topics. In that way, STDR uses all ROS advantages, aiming at easy usage with the world's most state-of-the-art robotic framework. The ROS compliance also suggests that the Graphical User Interface and the STDR Server can be executed in different machines, as well as that STDR can work together with ROS Rviz!</p>
<br>
<img src='images/img6.png' width='600px' border='1'/>
<h3 style="text-align: justify;">
STDR Simulator ROS packages
</h3>
<ul style="text-align: justify;">
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_server'>stdr_server</a>, Implements synchronization and coordination functionalities of STDR Simulator
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_robot'>stdr_robot</a>, Provides robot, sensor implementation, using nodelets for stdr_server to load them
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_parser'>stdr_parser</a>, Provides a library to STDR Simulator, to parse yaml and xml description files.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_gui'>stdr_gui</a>, A gui in Qt for visualizing purposes in STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_msgs'>stdr_msgs</a>, Provides msgs, services and actions for STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_launchers'>stdr_launchers</a>, Launch files, to easily bringup server, robots, guis
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_resources'>stdr_resources</a>, Provides robot and sensor descripiton files for STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_samples'>stdr_samples</a>, Provides sample codes to demonstrate STDR simulator functionalities.
</li>
</ul>
<h3 style="text-align: justify;">Developers</h3>
<ul style="text-align: justify;">
<li style="text-align: justify;"><a href='https://github.com/etsardou'><b>Manos Tsardoulias</b> (administrator/developer)</a>, PhD in Electrical Engineering <i>(etsardou [at] gmail [dot] com)</i></li>
<li style="text-align: justify;"><a href='https://github.com/czalidis'><b>Chris Zalidis</b> (maintainer/developer)</a>, Student in Electrical Engineering (Aristotle University of Thessaloniki) <i>(zalidis [at] gmail [dot] com)</i></li>
<li style="text-align: justify;"><a href='https://github.com/athallas'><b>Aris Thallas</b> (developer)</a>, Student in Electrical Engineering (Aristotle University of Thessaloniki) <i>(aris.thallas [at] gmail [dot] com)</i></li>
</ul>
<br>
<h3 style="text-align: justify;">Special thanx to ...</h3>
<ul style="text-align: justify;">
<li style="text-align: justify;"><a href='https://github.com/trainman419'>Austin</a> for development in polygon robots support / odometry publishing / tutorial writing</li>
<li style="text-align: justify;"><a href='https://github.com/cottsay'>Scott K Logan</a> for support in YAML-CPP</li>
<li style="text-align: justify;"><a href='https://github.com/taketwo'>Sergey Alexandrov</a> for code pull request</li>
</ul>
</div>
</div>
</div>
<div id="content_download" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>How can I download it?</h2><br>
<span class="byline">Ways to get STDR Simulator</span> </div>
<div class="content">
<p style="text-align: justify;">
There are two ways to get STDR Simulator. The first one by our Github repository. The STDR Github page is <a href='https://github.com/stdr-simulator-ros-pkg/stdr_simulator' target="_blank">https://github.com/stdr-simulator-ros-pkg/stdr_simulator</a>. To clone the repository execute the following command:
</p>
<p class='code-block'>git clone https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git</p>
<p style="text-align: justify;">The second way is through ROS official apt-get binaries by executing the following command:</p>
<p class='code-block'>sudo apt-get install ros-hydro-stdr-simulator</p>
<p style="text-align: justify;">To start using STDR please check the Tutorials section.</p>
</div>
</div>
</div>
<div id="content_multimedia" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>What does it look like?</h2><br>
<span class="byline">Gallery</span> </div>
<div class="content">
<a href="images/img1.png" rel="prettyPhoto[pp_gal]" title="STDR GUI with a loaded map."><img src='images/img1.png' height='100px' border='1'/></a>
<a href="images/img2.png" rel="prettyPhoto[pp_gal]" title="STDR GUI with one loaded robot, equipped with a laser and five sonar sensors."><img src='images/img2.png' height='100px' border='1'/></a>
<a href="images/img3.png" rel="prettyPhoto[pp_gal]" title="Screenshot of the STDR GUI robot creator."><img src='images/img3.png' height='100px' border='1'/></a>
<a href="images/img4.png" rel="prettyPhoto[pp_gal]" title="Zoom in to a single robot, showcasing proximity circles and grid existance."><img src='images/img4.png' height='100px' border='1'/></a>
<a href="images/img5.png" rel="prettyPhoto[pp_gal]" title="Robot and sensors topic visualization."><img src='images/img5.png' height='100px' border='1'/></a>
<a href="images/img6.png" rel="prettyPhoto[pp_gal]" title="Two robots spawned with different visualization status."><img src='images/img6.png' height='100px' border='1'/></a>
</div>
</div>
</div>
<div id="content_tutorials" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>How can I use it?</h2><br>
<span class="byline">Tutorials</span> </div>
<div class="content">
<p style="text-align: justify;">
Our tutorials cover the areas of setting up the STDR Simulator, using the console-only interface and using the STDR GUI.
</p>
<p style="text-align: justify;">The tutorials can be found here : <a href="http://wiki.ros.org/stdr_simulator/Tutorials" target="_blank">http://wiki.ros.org/stdr_simulator/Tutorials</a></p>
<p style="text-align: justify;">
In addition detailed information about each package can be found in the following ROS wiki pages:
</p>
<ul style="text-align: justify;">
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_simulator'>stdr_simulator</a>, Main page with an architectural overview.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_server'>stdr_server</a>, Implements synchronization and coordination functionalities of STDR Simulator
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_robot'>stdr_robot</a>, Provides robot, sensor implementation, using nodelets for stdr_server to load them
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_parser'>stdr_parser</a>, Provides a library to STDR Simulator, to parse yaml and xml description files.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_gui'>stdr_gui</a>, A gui in Qt for visualizing purposes in STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_msgs'>stdr_msgs</a>, Provides msgs, services and actions for STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_launchers'>stdr_launchers</a>, Launch files, to easily bringup server, robots, guis
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_resources'>stdr_resources</a>, Provides robot and sensor descripiton files for STDR Simulator.
</li>
<li style="text-align: justify;">
<a href='http://wiki.ros.org/stdr_samples'>stdr_samples</a>, Provides sample codes to demonstrate STDR simulator functionalities.
</li>
</ul>
</div>
</div>
</div>
<div id="content_contribute" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>Functionality status</h2><br>
<span class="byline">... and ways to contribute</span> </div>
<div class="content">
<p style="text-align: justify;">
As STDR Simulator is still at the 0.2 version, would would appreciate some help! So we encourage you to fork our code and help us improve it. Though we would prefer not to make any large extend changes, as the final code structure is going to change in the next release.
</p>
<p style="text-align: justify;">
It would be great if you provide us information about bugs and generally features you would like to see in STDR Simulator. Also you can help us enrich our robot and sensor yaml database as well as provide us with more map files!
</p>
<p style="text-align: justify;">The bug tracker of STDR Simulator is located here : <a href='https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues?direction=desc&labels=&page=1&sort=updated&state=open' target="_blank">https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues</a></p>
<p style="text-align: justify;">You can fork our git repository here: <a href='https://github.com/stdr-simulator-ros-pkg/stdr_simulator/fork' target="_blank">https://github.com/stdr-simulator-ros-pkg/stdr_simulator/fork</a></p>
<br>
<h3 style="text-align: justify;">What would you expect to work and it doesn't</h3><br>
<ul style="text-align: justify;">
<li style="text-align: justify;">Other robots perceived as obstacles from sensors</li>
<li style="text-align: justify;">Noise in sensors</li>
<li style="text-align: justify;">Properties in GUI</li>
<li style="text-align: justify;">Battery level in a robot</li>
</ul>
<br>
<p style="text-align: justify;">We hope that all these will work in the next releases!</p>
</div>
</div>
</div>
<div id="content_contact" style="display:none">
<div id="welcome" class="container">
<div class="title">
<h2>How can I contact you?</h2><br>
<span class="byline">Contact information</span> </div>
<div class="content">
<p style="text-align: justify;">
Our e-mail is <b><u>stdr.simulator [at] gmail [dot] com</u></b>. We also have a google group, so if you're interested in participating more actively, please send us an e-mail to let you in! Looking forward to hear from you :)
</p>
</div>
</div>
</div>
</div>
</div>
</div>
<div id="copyright">
<p>Copyright (c) 2014 STDR Simulator. All rights reserved.</p>
</div>
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