ROS Platform Code for DCSL at Princeton University

Description:

This code is designed to run the Miabot multi-agent system at DCSL at Princeton Unversity. The system is a closed loop control system with differential drive robots commanded over bluetooth. The poses of the robots are sensed with an overhead camera. Waypoint control for the robots or velocity and angular velocity control can be controlled from MATLAB.

Dependencies:

This system requires the fuerte version of the ROS system. Installation instructions can be found at http://www.ros.org/wiki/fuerte/Installation.

It is also dependent on: ROS packages -turtlebot-apps for joystick control. -camera1394 for image capture External libraries -eigen for c++ -munkres for Hungarian algorith in python -OpenCV for python for image processing

Compiling: Each package can be compiled using the following command from any directory.

rosmake

The dcsl_miabot_main package is dependent on all the packages necessary to run the DCSL Miabot platform. Therefore,

rosmake dcsl_miabot_main

will compile all packages necessary to run the system.

Running: To connect Miabots to the computer:

1. Turn Miabots on
2. Command: hcitool scan This returns the hardware addresses of the robots.
3. Command: sudo rfcomm connect Run this for each robot. should be rfcomm0, rfcomm1, etc. was found with hcitool above. To run miabot_follower demo:
4. In new terminal command: roscore
5. In new terminal command: roslaunch dcsl_miabot_main miabot_follower.launch If miabot driver nodes fail to connect, disconnect robots from rfcomm and reconnect (step 3 above). To shutdown system:
6. In all open tabs command ctrl+c to close process to the order of miabot_follower, roscore, rfcomm connections.