GitLab

Signed-off-by: Chanelle Lee <chanelle2.lee@live.uwe.ac.uk>

Changed lots. Made it n=7 and also changed the idea behind where they head. So randomise the order of the sites and then the agents go to a site and a neighbour with the first site chosen based on beliefs. Also pooling is now fixed as a set size the agents must have and agents return to the nest to pool their opinion once they have come to a decision.

Changed to 10 options and also made the site publisher better. Everything appears to be working well!

Now have working experimental setup. Added a delay to the pooling, so it will end early if the robot has been waiting too long in order to make it feel more organic. Also added a comm_range so no messages from agents are too far away - hoping this solves the old messages on the stack problem.

For some reason the robot can't receive the final message value - depite it being visible in the publisher and the subscriber. No idea where it is getting lost, but may have to rethink plans of having a iteration flag

Fixed bugs in updating evidence and combining beliefs. Now only problems left are that for some reason it isn't returning beliefs correctly anymore. Secondly need to sort out the looping and checking consensus.

Added operators and changed the belief system around so that now it is an array of doubles and only converts to ints for communication. Hopefully also added ability to parse belief values from the robot logs. Everything has compiled successfully, needs to be tested on the robots that it runs and is accurate and no bugs in the operators

Robots should be able to receive messages now - although has yet to be tested on the real system. Everything compiles and publisher and subscriber are working on the ros side

Almost have the Sensor topic working - just seems to be a problem at the moment on the subscriber side

Got the FSM structure working - including comms and movement. Now need to work on sensor readings and maths functions.

Started working on the FSM and thinking about how the site broadcasters will work. Not recently compiled so might be bugs.

Started adding capacity for visiting multiple sites - not check for compile yet after adding functions for picking which is unfinished.

Merge branch 'master' of git.brl.ac.uk:c53-lee/DecisionMakingEpucks

Need to update the gitignore fil

This reverts commit 8228480a.