EECS 106A Final Project - Search and Rescue

Node: move arm in predetermined path for scan Service: closest AR tag to cone Service: turtlebot AR tag

Node: AR tags Publish: list of AR tags in view with coordinates

Node: plan_next_target Looks at all AR tags in view, calculates minimum manhattan distance to goal pose in World frame Calculates transform between target AR tag and turtlebot in world frame subscribe: AR tags, last stopped position of turtlebot, turtlebot boolean status publish: intermediate target pose in turtlebot frame

Node: move baxter arm in orientation restricted path from start to goal stop when sees new AR tag subscribe: turtlebot boolean status, list of AR tags in view Client to: move arm in predetermined path for scan

Node: turtlebot_move subcribe: next ar_target publish: boolean status (moving or stopped)

Node: turtlebot_seek

Turtlebot Setup: Do this before launching demo_baxter.launch

source devel/setup.bash

ssh turtlebot@pink.local

export ROS_MASTER_URI=http://archytas.local:11311

1 terminal

roslaunch turtlebot_bringup minimal.launch

1 terminal

roslaunch turtlebot_bringup 3dsensor.launch

Archytas Setup:

source devel/setup.bash ./baxter.sh archytas.local

1 terminal

rosrun baxter_tools enable_robot.py -e

rosrun baxter_search baxter_cam.py -o right_hand_camera -r 1280x800 --exposure 5

rosrun baxter_interface joint_trajectory_action_server.py

1 terminal

roslaunch baxter_moveit_config demo_baxter.launch load_robot_description:=true

1 terminal

roslaunch baxter_search right_arm_ar_track.launch

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Phase 1

rosrun baxter_search find_turtlebot_and_goal.py

rosrun baxter_search initial_sweep.py

Phase 2

rosrun turtlebot_nav turtlebot_hop.py

rosrun baxter_search guiding_path.py

rosrun baxter_search guide_coordinator.py

Phase 3

rosrun turtlebot_nav turtlebot_final_countdown.py

Runs

rosrun baxter_search dummy.py # all 3 phases

rosrun baxter_search dummy2.py # phase 2 and 3