yizow / boba_bot

ROS code to control a boba drink mixing Baxter Robot

EE106a_Final_Project

ROS code to control a boba drink mixing Baxter Robot

ROS Setup Instructions

READ BEFORE CLONING THIS REPO

I assume you already have ROS setup

1. Create a folder for your ROS workspace. Make sure it includes a src subfolder.

• Ex: mkdir -p ~/ee106a_final/src

2. cd ~/ee106a_final/src
3. catkin_init_workspace
4. Clone this repo. git clone https://github.com/yizow/boba_bot.git

• Feel free to use ssh to clone if you have ssh-keys setup.

5. cd ~/ee106a_final/
6. catkin_make

Setting up ar_tags

1. To start a camera, simply call roslaunch launch file that corresponds to the camera you want to turn on (Ex: head_camera.launch).
2. To verify this is working, you can call roslaunch image_view image_view image:=/cameras/head_camera/image (Or /cameras/left_hand_camera/image)
3. Since head cameras are not calibrated correctly, you must run ./headsub.py which is in the src folder to re-broadcast all ar_tag values that's read from the head camera, by calling ./headsub.py. This reads the conf.py file to determine which ar tags are being used and rebroadcasts them.
4. You will also need to download the ar_track_avalar package, which you can follow lab instructions for.

Changing ingredients/ Menu

Modify the ingredient_list or menu_list in conf.py

Boba Bot Usage

LAUNCH FILES WOO

1. Source devel/setup.sh
2. roslaunch boba_bot boba_bot.launch
3. A new terminal will automatically open, waiting for Baxter commands.