Final project for EE106A (Introduction to Robotics).

Setup steps

1. roscore

(Instructions in lab 6) 2. ssh-copy-id zumy@zumyXX.local 3. roslaunch odroid_machine remote_zumy.launch mname:=zumyXX

(Instructions in lab 4; look at lab4_cam/run_cam.launch) 4. roslaunch kalman_zumy run_all.launch

(To look at camera output) 5. rosrun image_view image_view image:=/usb_cam_[global/utensil]/image_raw

(To open tf viewer - keep in mind that the x-axis = red) 6.rosrun rviz rviz

7. Set up two camera services (camera_srv.py). Arguments: (utensil, global). The path planning node will use the image from camera_srv/usb_cam_global to do path planning to destination.

rosrun kalman_zumy camera_srv.py global rosrun kalman_zumy camera_srv.py utensil

8. Set up the path planning service (path_planning_srv.py)

rosrun kalman_zumy path_planning_srv.py [x_length] [y_length] [# x points] [# y points] [debug? (optional)]

9. Set up main node

rosrun kalman_zumy main_control [zumy name] [AR zumy tag #] [AR start tag #]

TODO

1. Change any references to usb_cam/... to usb_cam_utensil/... or usb_cam_global/...
2. Create a script to open all necessary nodes (camera, etc., likely in run_all.launch)
3. Translate corner detection to numpy
4. Get pictures of forks, knives, and spoons
5. Eat somewhere so we can steal forks, knives, and spoons
6. Handle all XXX