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.
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.
- An app made by Unity that can choose what robot you want to control.
- Receive the unity data and light data. And send the velocity command to the Zenoh Robot Manager.
- Receive the velocity command and send the command to the robots through Zenoh respectively.
python3 UnityServer.py
Start the zenoh router on PC then run the manager.
zenohd
python3 robot_manager.py
Run Evpi first. Then start zenoh/DDS bridge
zenoh-bridge-dds -s evpi0 -e tcp/$(Robot Manager IP):7447
Run pangolin robot first. Then start zenoh/DDS bridge
ros2 launch pangolin_bringup pangolin_bringup.py
zenoh-bridge-dds -s pangolin0 -e tcp/$(Robot Manager IP):7447
Run turtlebot3 first. Then start zenoh/DDS bridge
ros2 launch turtlebot3_bringup robot.launch.py
zenoh-bridge-dds -e tcp/$(Robot Manager IP):7447
