Yesterday I showed the computer vision part in isolation, today we have the ROS system doing nearly everything that it needs to do. Joypad -> desktop -> arduino interface -> tiny robot -> Camera -> extract robot positions -> broadcast transforms to ROS.

The communication between the arduino and the robots is still pretty naive, but all the parts are there for full linear/angular velocity control at around 300 Hz shared between the robots (so 30Hz for 10 robots). Most of the delay you can see in the video is due to the time it takes to draw the visualisations and display them, plenty of room for optimisations to remove the majority of the lag.