One of the main reasons our team was not able to reach the collaborative portion of the project was because of the difficulties we faced controlling the robot in real life remotely. This was due to the fact that the packages installed on the robot were different versions from those on our laptops (which we were unable to resolve) and prevented communication. Our solution was to simply run our code by SSH ing into the robot itself and running the interbotix commands from there. Also of note, in many instances there are both moveit commands and interbotix commands to perform motion on the robot. Often times the moveit commands did not work so we suggest always using the interbotix packages. Finally, when running launch files on the robot, it is important to turn off gazebo or the launch file will not run.Â
Given more time on the project, we would like to implement our collaborative strategy and full game play. We would start by first implementing automatic 360o cube scanning from afar using the cameras, then drive to whichever one is closest for our task. Using this data we could plan which cubes we would take to which stations to minimize the joint work of us and our teammate using nash equilibrium policies. Finally, we would implement some kind of collision avoidance of other robots and blocks.