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

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-

pdscraml/bunny-hunter