air-hockey 0.1.1

Python package for ROS integrated air-hockey table designed at METU ROMER

Air Hockey

The codes that run on the Raspberry Pi of the air hockey table. The Raspberry Pi has Ubuntu 24.04 Server running.

Python API

NeoPixels

The server code is run by the command ros2 run air_hockey neopixel. This code listens to 2 topics called /NeoPixel/array and /NeoPixel/fill. They show the given rgb array or all LEDs display a RGB color, respectively. Array elements are 8-bit unsigned integers and mimic OpenCV Numpy Array structure. Fill topic communicates with std_msgs/msg/ColorRGBA and expects float values that range from 0.0 to 1.0.

Commander

The commander code is run by the command ros2 run air_hockey commander. This code listens to /agent_0/cmd and /agent_1/cmd topics. These topics expect 3 integer values: left motor power, right motor power, and fan motor power, respectively. These values are in ranges {[-255,255],[-255,255],[0,255]}. This code then communicates with the commander ESP that controls the micro robots.

Localization

The localization code is run by the command ros2 run air_hockey localization. This code uses the camera to detect the April Tags of the micro robots and calculate their poses. Once detected, the pose data are published to /agent_x/pose topic, where x changes with the detected tag id.