The Renoir - Le robot de traçage

Tasks

• (Hojo) Hardware
  • Spring-loaded gripping thingy
• (DONE) Vectors to robot actions
  • Start with manually specified trajectories - Have baxter draw from a list of line segments
    • Have an algorithm to specify in which order lines are drawn in
    • Feed lines into MoveIt
  • Have a hard-coded picture to world transformation
• (DONE) Paper tracking
  • Calculate picture frame to world frame transformation. This can be a service that publishes a picture-to-world transformation matrix.
  • Corner detection (we can use 3/4 AR tags)
  • Kalman Filter
• Actual drawing
  • Idea 1 : Preload an alphabet, have baxter write
  • Idea 2 : Given a bitmap image, just trace the pixels
  • Idea 3 : Image Vectorizer?
  • Converts bitmap images to a list of line segments

How to Run (Currently)

ALL CODE IS ON THE baxter BRANCH

1. Set up pic2world transforms

• rosrun pic2world fix_baxter_cam.sh
• roslaunch pic2world baxter_single.sh

2. Setup movit

• roslaunch draw draw_rviz.launch

3. Run code (currently draws a traingle)

• rosrun draw run.py

Git Help

Setup

Downloading this repository

• git clone https://github.com/justinjfu/renoir.git

[Optional] Skip password prompts

• Set up SSH keys: https://help.github.com/articles/generating-ssh-keys/
• git remote set-url origin git@github.com:justinjfu/renoir.git

Simple git usage

• Update local code from remote
  • git pull origin master
    • Equivalent to:
    • git fetch + git merge origin/master
• Do your work
• Add
  • git add -A
  • git add file_name
• Commit
  • git commit -m "Your commit message"
  • If you made a mistake,
    • git commit --amend
• Synchronize to remote
  • git push origin master

Branches

• Create a branch
  • git checkout -b branch_name
  • git branch branch_name
• Moving between branches
  • git checkout branch_name
• Pushing/pulling from a branch
  • git pull/push origin branch_name
• Merging a branch into master
  • Step 1: git checkout master
  • Step 2: git merge branch_name