Extras:

• RRT smoothing
• Bi-directional RRT
• Splines

The package contains the following modules of note:

• Can load any font and draw any character
• $ roslaunch cs4752_proj2 typewriter.launch
• Go to http://localhost:8000/typewriter.html in a browser

• $ roslaunch cs4752_proj2 mousedraw.launch
• Baxter draws what you draw with your mouse in realtime

• $ roslaunch cs4752_proj2 mousedraw.launch
• Loads in an image
• Uses a canny cv2 filter to extract edges
• Creates paths from the edges and sends them to Baxter

• Keeps the pen in contact with the drawing plane
• Projects position error into the drawing plane for 2D position PID control