CRUES

Co-operative robotics using environmental sensors

Directory structure

• docs: Documentation, including PDF of final report
  • docs/interim: Interim report LaTeX root
  • docs/final: Final report LaTeX root
  • docs/img: Image root for reports
• wiring: Wiring diagrams, PCB files
• rviz: Rviz configuration files for visualising odemetry and mapping data
• crues_pi: ROS nodes and Python code
  • crues_pi/ros_pkgs: ROS packages to be added to catkin workspace
  • crues_pi/crues: Scripts used for testing and debugging
  • crues_pi/config: Configuration files for individual robots (Deploy script copies correct file to each RPi)
  • crues_pi/crues_deploy: Script for deploying code to RPis
  • crues_pi/crues_run: Script for running Roomba code on RPis

Deploying and running code

• Turn on robots
• Connect to CruesNet ad-hoc WiFi network
• Add crues_pi/crues_deploy and crues_pi/crues_run to PATH
• Run crues_deploy [ROBOTS] to deploy code, with [ROBOTS] replaced by any combination of blinky, inky and clyde
• Run crues_run [ROBOTS] to run the roomba.launch ROS launch file

More details can be found in the project Wiki.