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beachbots2022

This is the repository for the BeachBots MQP 2022

Code Architecture

base_bot Package

This is where all the Basebot code is. The launch file is DetectApriltags.launch.

Basebot IP: 192.168.0.10

small_bot Package

This package contains everything needed for the smallbot. The launch file is Smallbot.launch.

Smallbot IP: 192.168.0.11

How To Launch Basebot and Smallbot Code

*For both the Smallbot and Basebot:

username: pi

password: raspberry

To launch the system:

  Turn on both Smallbot and Basebot

  With your laptop, connect to "BasebotNetwork" wifi with the password "Wumpus3742"

  In Putty, ssh into the Basebot (192.168.0.10)

  In the terminal, enter username (pi) and password (raspberry)

  Enter the following commands

cd Desktop

sh OpenConnectedROS.sh

roslaunch DetectAprilTags.launch

  In second Putty window, ssh into the Smallbot (192.168.0.11)

  In the terminal, enter username (pi) and password (raspberry)

  Enter the following commands

cd Desktop

sh OpenConnectedROS.sh

roslaunch Smallbot.launch

Debugging

To confirm that the Basebot is functioning and communicating with the Smallbot:

In new Putty window with Basebot and Smallbot running, ssh into the Smallbot (192.168.0.11)

In the terminal, enter username (pi) and password (raspberry)

Enter the following command

cd Desktop

sh OpenConnectedROS.sh

rostopic echo /tag_bounds/tag_3

This will print the bounds of the AprilTag:

-1 = left

0 = center

1 = right