Skip to content

Latest commit

 

History

History
56 lines (37 loc) · 2.55 KB

README.md

File metadata and controls

56 lines (37 loc) · 2.55 KB
Raw

Baxter TicTacToe Build Status Issues Codacy Badge Docker Build Status Docker Automated Build

Playing TicTacToe with the Baxter collaborative robot.

setup

This code is released under a GNU GPL v2 license (see LICENSE file for more information).

Requirements

  • a Baxter robot
  • a usb camera
  • sudo apt-get install festival v4l-utils

Usage

Initialization

Obvious stuff:

  • make sure the Baxter is on
  • make sure the computer is on
  • make sure the Baxter and the computer are connected together
  • make sure the computer has some working speakers
  • make sure the board and tokens are placed on a table in front of Baxter

Calibration

In order to calibrate the hard coded positions for the pile of objects and the board, just record the end-effector position of the left arm when positioned either on the pile of tiles, or the four corners of the board. To to so, the following command may be useful:

rostopic echo -n 1 /robot/limb/right/endpoint_state | grep -A 3 position

Then, use this information to populate the corresponding parameters in tictactoe.launch : "ttt_controller/tile_pile_position and ttt_controller/board_corner_poss.

Run the demo

  • Make sure the board is empty
  • Open a new terminal
  • cd to ~/ros_ws
  • source devel/setup.bash
  • ./baxter.sh (this has to be done with any terminal that will interface with the Baxter)
  • rosrun baxter_tools tuck_arms.py -u
  • roslaunch baxter_tictactoe tictactoe.launch
  • Exit program

Shut down the robot

  • Open a terminal:
  • cd to ~/ros_ws
  • source devel/setup.bash
  • ./baxter.sh (this has to be done with any terminal that will interface with the Baxter)
  • rosrun baxter_tools tuck_arms.py -t