Repositories
Go to src clone the following repositories
https://github.com/dqyi11/sphero_ros.git
https://github.com/dqyi11/multi_apriltags_tracker.git

https://github.com/darin-costello/sphero_swarm_line_demo.git

To change spheros edit
catkin_ws/src/sphero_ros/sphero_swarm_bringup/launch/param/swarm.yaml
Then run:

to connect all spheros
roslaunch sphero_swarm_bringup sphero_swarm.launch

To open DashBoard (change colors and rotate)
roslaunch sphero_swarm_dashboard sphero_swarm_dashboard.launch

To add or remove spheros to swarm while running
roslaunch sphero_swarm_node sphero_swarm_manager.launch

To Luanch the camera services
roslaunch multi_apriltags_tracker launch_multi_april_tags_tracker.launch

To Print out april tag locations to terminal
rostopic echo /april_tag_pos

to print out sphero velocities to the terminal
rostopic echo /april_tag_pos

To open keyboard operation of spheros
roslaunch sphero_swarm_teleop keyboard_teop.launch

To run example where spheros move randomly run
rosrun sphero_swarm_teleop sphero_swarm_random_move.py


to run Line demo: doesn't work terribly well, but code will show how to use a swarms
rosrun sphero_swarm_line_demo spher_swarm_line_gui.py


ubuntu edit video options
qv4l2