microMVP software platform

Packages Needed for Pure Simulation:

pygame:

> pip install pygame

pyserial:

> pip install pyserial

zmq:

> pip install pyzmq

pgu: https://github.com/parogers/pgu

munkres:http://software.clapper.org/munkres/

Try to test if pure simulation works:

> python gui.py -s

The next step is to control the hardware. Get chilitag source file from https://github.com/chili-epfl/chilitags. Find and replace detect-live.cpp with the file in our directory chilitags/detect-live.cpp Build chilitag, now you can use the generated detect-live executable to detect the tags on the cars. From commandline, run:

> detect-live.exe 0 5556

(replace 0 with the camera you want to use if you have multiple cameras)

Setup your own parameters for the cars:

open utils.py and modify the parameters:

	carInfo, zmqPublisherIP, xBeeSocket, tagRatio

Try to test if hardware control works:

> python gui.py

(optional)

To run rvo2, first get the binaries from http://gamma.cs.unc.edu/RVO2/downloads/, then build it with the file in our directory: rvo2/RvoCaller.cpp.

This generates an executable, rename it as RvoCaller.exe and place it in

python\algorithms\rvobin

To run the MRPP path planning solver, you need to install Java and Gurobi on your computer:

http://www.oracle.com/technetwork/java/javase/downloads

http://www.gurobi.com/

And make sure gurobi is linked to your java.

You can also design your own robot dance patterns or path planning algorithms, please refer to file template.py in directory patterns/ or algorithms/.

All components of this library are licensed under the BSD 3-Clause License.

Copyright (c) 2015-, Algorithmic Robotics and Control Group @Rutgers (http://arc.cs.rutgers.edu). All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of Rutgers University nor the names of the contributors may be used to endorse or promote products derived from this software without specific prior written permission.

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