There are two packages to look at: ar_track_alvar and kin. We modified /kin/launch/ar_track.launch from the course labs to work with the Baxter's left arm camera. Most of the project code we wrote is in /kin/src/scripts/final_code.py.

1. SSH into baxter: ./baxter.sh [robot_name].local
2. Enable robot: rosrun baxter_tools enable_robot.py -e for baxter
3. roslaunch kin baxter_moveit_gui_noexec.launch
4. Start trajectory controller: rosrun baxter_interface joint_trajectory_action_server.py
5. roslaunch baxter_moveit_config baxter_grippers.launch
6. roslaunch kin ar_track.launch
7. rosrun kin final_code.py [ar_tag_num]