super-controller

Super Controller introduces "What You See is What You Control" for managing multi-robots. Unlike traditional joystick pairing, users scan tags on robots using cameras and select them to control corresponding robots. This approach aims to improve usability for workers managing multi-robots simultaneously.

Requirements

Python 3.8 minimum

• A zenoh router
• The zenoh/DDS bridge
• zenoh-python: install it with pip install eclipse-zenoh.
• pycdr2: install it with pip install pycdr2.

Super Controller

• An app made by Unity that can choose what robot you want to control.

Unity Server

• Receive the unity data and light data. And send the velocity command to the Zenoh Robot Manager.

Zenoh Robot Manager

• Receive the velocity command and send the command to the robots through Zenoh respectively.

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Test

Raspberry PI (Unity Server)

python3 UnityServer.py

PC (Robot Manager)

Start the zenoh router on PC then run the manager.

zenohd

python3 robot_manager.py

Multi-Robot

Evpi

Run Evpi first. Then start zenoh/DDS bridge

zenoh-bridge-dds -s evpi0 -e tcp/$(Robot Manager IP):7447

Pangolin Robot

Run pangolin robot first. Then start zenoh/DDS bridge

ros2 launch pangolin_bringup pangolin_bringup.py

zenoh-bridge-dds -s pangolin0 -e tcp/$(Robot Manager IP):7447

Turtlebot3

Run turtlebot3 first. Then start zenoh/DDS bridge

ros2 launch turtlebot3_bringup robot.launch.py

zenoh-bridge-dds -e tcp/$(Robot Manager IP):7447

Demo