Final Project: Jackals hunt rabbits right?

• Map a room or other enclosed area
• Explore the map looking for bunnies, each will have an associated Alvar marker.
• Set the bunny location as waypoints in the map.
• Return to the starting point and pose.
• At the starting point you will find an Alvar marker matching one of the bunnies.
• Proceed to that waypoint.
• Count the number and color of each Easter Egg in the bunny's basket. The basket and eggs will be situated similar to the image above.
• Return to the starting point.
• Provide some sort of visual display, pop-up, with the number of eggs and location (i.e. Alvar marker #).
• Final presentations on April 19.

Guidelines

• Interact via the controller. (Start/Stop)
• Time is a factor
• Avoid collisions
• Smooth motion
• Three trials
• Document approach on Git
• Trial run week before
• Team leader will give a presentation covering approach. Following the competition.
• Points given for style and creativity.
• Sequential behavior should be enabled using 'smach'.

Team

• Ian Wakely
• Akhil Kurup
• Phillip Scramlin (Project Leader)

Local Development

After cloning this repository, follow these steps to setup the development environment

$ cd catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ source remote-jackal.sh
$ source remote-jackal.sh jackal2

Jackal Development

Once the Jackal is powered up and online, ssh into it with the following commands.

$ ssh rsestudent@jackal2
$ cd bunny-hunter/catkin_ws
$ git pull
$ source devel/setup.bash
$ source remote-jackal.sh
$ roslaunch easter_egg_hunt jackal.launch

Launching Easter Egg Hunt

For launching the easter egg hunt run the following commands on the Jackal.

$ roslaunch easter_egg_hunt jackal.launch

Then run the following commands in the local machine.

$ roslaunch easter_egg_hunt exploration.launch

State Machine Operation

• This will launch SICK LMS200 wrapper, USB camera package, Alvar package, gmapping, and move_base.
• Alvar Discovery node is also launched. This manages the discovery and storing of Ar markers.

Press and hold X on joystick to begin hunt.

• Start_Pause: Jackal starts in Start_Pause state
• Button_Pressed: Jackal transitions to Origin_Detect upon button press.
• Enable_Discovery: Alvar marker discovery is enabled
• Waypoints_Enabled: Jackal transitions to Origin_Detect after Ar discovery enabled.
• Origin_Detect: Jackal saves origin waypoint
• Origin_Detected: Once origin waypoint saved Jackal switches to EXPLORATION state.
• Exploration: Jackal will explore area, building map and detecting Alvar Marker.
• Exploration_Complete: After map is determined to be complete or timer issued, Jackal transitions to START_GOAL.
• Start_Goal: Jackal sets waypoint goal to origin.
• GOAL_REACHED: Once Jackal determines waypoint goal successful it transitions to Disable_Discovery
• Map_Saver: Jackal saves map.
• MAP_COMPLETE: Jackal transitions after map is saved.
• Disable_Discovery: Ar Marker discovery disabled.
• Waypoints_Disabled: Transitions to Marker_Display_Wait after Ar Marker discovery disabled.
• Marker_Display_Wait: Jackal waits for button press to detect marker.

Press joystick x button to enable Ar detection.

• Button_Pressed: After button press, Jackal transitions to Select_Bunny state.
• Select_Bunny: Jackal waits for service message that Ar Marker was detected.
• Waypoint_Selected: Transition to Bunny_Nav State
• Bunny_Nav: Set move_base action goal to designated bunny.
• Button_Pressed: After waypoint successfully reached, Jackal transitions to Egg_Detect state.
• Egg_Detect: Jackal runs egg detection.

View Hunt On Local Machine

$ roslaunch easter_egg_hunt rviz.launch

Calibration

The PlayStation3 Eye camera was calibrated using this tutorial.

Results

https://www.youtube.com/playlist?list=PLiyhIGkouc_11FCaG2WNUd6RYeX24-bG-