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Code Structure

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Liani Lye edited this page Dec 16, 2015 · 13 revisions

Our code consists largely of object-oriented ROS nodes and helper scripts to simplify the process of running the code with multiple agents. The two main types of ROS nodes that we created were Omniscient and Agent. There is one Omniscient node running that facilitates communication among the agents. There is one Agent node running per agent that received packets of information from the Omniscient node and acts based on the contents of the packets.

Below is a class/interaction diagram showing our code structure:

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