13 Feb

After revising our requirements, we decided that in addition to the received signal strength, we also needed to collect information on the link quality in order to better characterize the connection between two devices. Link quality is an important measure that indicates whether or not a message se...

31 Jan

During Weeks 1 and 2 I worked on improving the way we started the robots CoLo-PE by moving from using Ubuntu's Remote Desktop solution to issuing remote commands with ssh.To emulate the functionality of the robot_full_run.sh script which opens up several xterm windows each running a different ROS...

04 Dec

These past few weeks my role has been to add networking/communication to CoLo-PE (CoLo Physical Experiments). Previously when evaluating the performance of a localization algorithm, CoLo would infer the connection strength between each of the robots from the relative distance between each of them (...

29 Nov

Last week I measured the performance impact of sending and receiving messages over a Bluetooth link to see how well it would scale up if needed. The metrics I chose were the percentages of CPU and RAM used by the running process. To collect this data, two common tools came to mind: ps and top....

20 Nov

The PyBlueZ library provides an easy to use interface for communicating over Bluetooth in Python. While Python has native support for Bluetooth with its sockets interface, it is only available for Python v3.3 and up. In addition the PyBlueZ provides a lower-level interface for Bluetooth that can b...

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