$ player
Registering driver
Player v.3.0.0
USAGE:  player [options] []

Where [options] can be:
  -h             : print this message.
  -d      : debug message level (0 = none, 1 = default, 9 = all).
  -p
      : port where Player will listen. Default: 6665
  -q             : quiet mode: minimizes the console output on startup.
  -l    : log player output to the specified file
     : load the the indicated config file

The following 81 drivers were compiled into Player:

    Segmentation fault

$ player cfg/voronoi.cfg
Registering driver
Player v.3.0.0

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

loading plugin stageplugin
error   : Failed to load plugin stageplugin.
error   : libtool reports error: file not found
error   : plugin search path: /Users/jaustin/work/player-bots/voronoibot:cfg:/opt/local/lib/
error   : failed to load plugin: stageplugin
error   : failed to parse config file cfg/voronoi.cfg driver blocks

• TCL, curl and OpenSSL (all present by default on Mac OS X, so you probably don’t need to do anything)
• Apple’s Xcode programing suite (http://developer.apple.com/tools/xcode/index.html)
• X11

$ sudo port selfupdate

Step two: Install player/stage

$ cmake
-bash: cmake: command not found
$ sudo port install cmake

$ sudo port install playerstage-stage

Step three: Verify installation (OS X 10.5)

$ cd /opt/local/share/stage
$ stage worlds/simple.world
dyld: Library not loaded: libstage.3.2.2.dylib
Referenced from: /opt/local/bin/stage
Reason: image not found
Trace/BPT trap

$ export DYLD_LIBRARY_PATH=/opt/local/lib

$ stage worlds/simple.world
stage simple.world dyld: Symbol not found: __cg_jpeg_resync_to_restart
Referenced from: /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/ImageIO
Expected in: /opt/local/lib/libjpeg.7.dylib
Trace/BPT trap

We still have issues. It looks like the version of libjpeg.dylib on our library path is a different version from what ImageIO is expecting. Maybe there was a transitive dependency in the DarwinPorts install that’s screwed us over, who knows. Anyway, if we point to OS X’s version of libjpeg, maybe we’ll eliminate this issue.

$ cd /opt/local/lib
$ sudo rm libjpeg.dylib
$ sudo ln -s /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Resources/libJPEG.dylib libjpeg.dylib
$
$ cd /opt/local/share/stage
$ stage worlds/simple.world
dyld: Symbol not found: __cg_TIFFClientOpen
Referenced from: /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/ImageIO
Expected in: /opt/local/lib/libTIFF.dylib

Looks like a similar issue, so we’ll try the same trick again (and yet again for libpng):

$ sudo rm libtiff.dylib
$ sudo ln -s /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Resources/libTIFF.dylib libtiff.dylib
$ sudo rm libpng.dylib
$ sudo ln -s /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Resources/libPng.dylib libpng.dylib
$
$ cd /opt/local/share/stage

$ stage worlds/simple.world
Stage 3.2.2
[Loading worlds/simple.world][Include pioneer.inc][Include map.inc][Include sick.inc]

Success!

Try holding the ctrl key and moving your mouse cursor around to change the view. You can also press “p” to unpause the simulation.

Now let’s test to see that plugins are working:

$ stage worlds/fasr.world
Stage 3.2.2
[Loading worlds/fasr.world][Include pioneer.inc][Include map.inc][Include sick.inc]warn:
multi-thread support is experimental and may not work properly, if at all. (/opt/local/var/macports/build/_opt_local_var_macports_sources_rsync.macports.org_release_ports_science_playerstage-stage/work/Stage-3.2.2-Source/libstage/world.cc Load) [threads 2]

A window should pop up. Press “p” and watch the robots move around.

This verifies that the stage plugins are working.

Verify Installation (OS X 10.6)

With 10.6, I had a much easier time installing for some reason (perhaps because I used MacPorts instead of DarwinPorts?). The only issue I found was that the STAGEPATH variable was not set, so I set that and was good to go.

$ stage worlds/simple.world
Stage 3.2.2
 [Loading worlds/simple.world][Include pioneer.inc][Include map.inc][Include sick.inc]Libtool error: file not found. Can't open your plugin controller. Quitting
err: Failed to open "wander". Check that it can be found by searching the directories in your STAGEPATH environment variable, or the current directory if STAGEPATH is not set.]
 (/opt/local/var/macports/build/_opt_local_var_macports_sources_rsync.macports.org_release_ports_science_playerstage-stage/work/Stage-3.2.2-Source/libstage/model_load.cc LoadControllerModule)
libtool error #2
$ export STAGEPATH=/opt/local/lib
$ stage worlds/simple.world
Stage 3.2.2
 [Loading worlds/simple.world][Include pioneer.inc][Include map.inc][Include sick.inc]