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Run Instructions
Navigate to the workspace that contains the experiment code. In the /launch/ directory there is a shell script called startup.sh that will launch everything needed to run the experiment with minimal user input. *Note: this script requires xterm in order to run.
Just follow the prompts in the terminal in which you ran the script. The password to ssh into the robots is "unicorn".
To change the policy used for the experiment, change line 4 in goals.launch, located in the launch folder, to a path to the desired policy.
If you encounter problems using the startup script, enter the commands in this section instead, and submit relevant script-related errors to the Issues page.
The following steps assume you have created a function in your .bashrc file called set_indigo to set the ROS distribution and source your workspace. If you haven't done this yet, please see the installation wiki page.
Open a new terminal window and type
set_indigo
roscore
In a new window or tab:
set_indigo
roscd pomdp_experiment
roslaunch vicon_sys.launch
Place the robber robot on the origin and, in another tab
set_indigo
rosservice call /vicon_bridge/calibrate_segment $robber_name $robber_name 0 100
where $robber_name is replaced by the actual name of the robot to be the robber.
Then, place the cop robot on the origin and in the same tab
set_indigo
rosservice call /vicon_bridge/calibrate_segment $cop_name $cop_name 0 100
In a new window
ssh odroid@$robber_name
roslaunch cops_and_robots/launch/vicon_nav.launch
and in another window
ssh odroid@$cop_name
roslaunch cops_and_robots/launch/vicon_nav.launch
Finally, to run the experiment, in one more window
set_indigo
roscd pomdp_experiment
roslaunch launch/goals.launch