1. Single RCR control panel

support ur5 and ur3, should revise:

2. To do list

roscore
choose ur type
roslaunch singrcr ur3_launch.launch
get init ur pos
get final ur pos ( this step should be calculated based on the sonic value and ur pos, use impedance control to set)
move up and down

always enabled before the port is detected and chosen correctly
adjust the angles of pitch and yaw by sliders, values will be changed with the slider simultaneously.
pitch and yaw are adjusted with range 100~~200 and 50~~210; only in integer
the realisation of "stepDown, stepUP" can be seen in "rcr.py", function name is "fixed_update(self, hd, vd)"
the realisation of "Down, UP" can be seen in "rcr.py", function name is "update(self, hd, vd)"
base camera is the camera installed in the base, the pos can be adjusted by the base camera pos adjustment servo motors
In base camera, "lsd" method is embedded. While the head camera, just show the raw images.
choose the right port of the camera.

you should have a python environment in your directory.
you can set it by open : Setting ->project-> project interpreter -> add -> new environment based on "the python3 of your computer", select "inherit from global site-packages"
after setting, you will have a "venv"(environment name) folder in your directory
you should set your python libraries by following the blog
you should add:
1. "/usr/local/lib/python3.5/site-packages" -> this is your own python3.5 libraries
2. "/opt/ros/kinetic/lib/python2.7/site-packages" -> this has "rospy", if not "rospy error" happens
3. in python3, you should install "rospkg, catkin_tools, catkin_pkg" and "opencv-python"

spark fun 1401 IMU
two industry camera(web cams), one for RCR Base, other for UR EE IBVS
UR3
two arduino: one for sensor data pre-processing, other for motors control
Four motors include, clean water and sewage pumps, cleaning unit rotating 12V DC motor, RCR climbing 24v DC motor.
Robomodule driver is CAN protocal based.