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README.md

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README.md

Starting command

For main mission, type a command below on the terminal. our model is coppeliasim_models/teamE_robot_ver6_final.ttm. Use environment setting as Vortex, very accurate, dt = 50ms.

roslaunch data_integrate capstone_launch.launch

For bonus mission, type below command. Both mission share same environment settings.

roslaunch bonus_package bonus_launch.launch

Instructions regarding manual transition

Our system publishes "/zone" topic to activate nodes for ball harvesting zone. However, you cannot change the robot control method by just publishing "/zone" topic manually.

Instead, just follow the steps below for using ball harvesting zone control.

  1. Move robot on the step obstacle in the entrance zone like below picture.



  2. set DEBUG_HARVEST as true. It is defined in data_integrate/data_integration.cpp, line 83 (approximately).

  3. Type same command as before:

roslaunch data_integrate capstone_launch.launch

Required library list

In main mission, this package uses basic libraries such as std::msgs, opencv, etc. However, in bonus mission, we use icp algorithm in pcl library, so it requires pcl_conversions, pcl_ros library.

Perhaps all the packages are included in the ros full package, so if the simulation environment has a full ros noetic package, no additional dependency is required.