flag_catching

Final project for EE 106A Fall 2015

How to Run

Preparation

1. Set up the hardware according to this page.
2. Launch the camera, and make sure that all the objects on the playground can be seen in rviz and the ARTags on them are recognized.
3. Turn on the Zumys and run odroid_machine to connect to them.

Run Attacker Node

python zumy_goal.py zumy_name origin_artag boundary_artag flag_artag zumy_artag [defender_artag ...]

For example,

python zumy_goal.py zumy1c 1 2 3 4 5 6

runs a node that controls the zumy1c with ARTag 4 on it. The origin ARTag is 1, the boundary ARTag is 2 and the flag ARTag is 3. There are two defending Zumys, the ARTags on them are 5 and 6.

The node will display Press Enter to do path planning on the terminal.

Run Defender Node

python zumy_catch.py zumy_name origin_artag boundary_artag attacker_artag zumy_artag [other_defender_artag ...]

You can run multiple defender nodes (with different arguments) to control several Zumys.

Start the Game

Press Enter in every terminal showing Press Enter to do path planning, then the Zumys will start moving.

After game is over, the Zumys stop and you can rearrange the playing area. Press Enter in every terminal again to restart the game.

View Game Status

You can open the image file out.png with an image viewer that can automatically reload when the image is changed. That way you will see the game status in real time.

Trouble shooting

In case a Zumy does not move:

• If the terminal is showing coordinates (x, y) or rotating (x, y), then it might be that the Zumy has lost the connection to the computer. Restart the Zumy and restart odroid_machine for it.
• If the terminal is showing a number xx, then check whether the ARTag xx can be seen in rviz.