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Odroid_machine

A ROS node manages network communication for Zumy ROS project. It manages remote Zumy controlling launch, Zumy remote control environment setup, Zumy online connection detection, and Host-Zumy auto connection.

Dependency

  • python-nmap
  • python-subprocess
  • ros-indigo-zeroconf-avahi-suite

Feature

  • Zumy online_detector: publishes a ROS topic that shows all Zumies connected to host
  • Zumy auto_connect: allows host launches ROS in a Zumy as soon as it connects to host

Limitation

  • ros_env path is not flexible because it is always set to: "/home/odroid/coop_slam_workspace/src/odroid_machine/launch/ros_env_loader.bash"
  • ros_env_loader is not flexible, and its ROS_PACKAGE_PATH is always set to workspace "coop_slam_workspace"

Known issues

  • Auto_connect waits for a very long time for lost scan if lost Zumies are more than 2. The reason is that nmap spend a long to look for lost host. But this delay will not effect navigation control.
  • Sometimes fails to connect (need more tests)

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  • Python 63.5%
  • CMake 34.6%
  • Shell 1.9%