Baxter TicTacToe

Playing TicTacToe with the Baxter collaborative robot.

This code is released under a GNU GPL v2 license (see LICENSE file for more information).

Requirements

• a Baxter robot
• a usb camera
• sudo apt-get install festival v4l-utils

Usage

Initialization

Obvious stuff:

• make sure the Baxter is on
• make sure the computer is on
• make sure the Baxter and the computer are connected together
• make sure the computer has some working speakers
• make sure the board and tokens are placed on a table in front of Baxter

Calibration

In order to calibrate the hard coded positions for the pile of objects and the board, just record the end-effector position of the left arm when positioned either on the pile of tiles, or the four corners of the board. To to so, the following command may be useful:

rostopic echo -n 1 /robot/limb/right/endpoint_state | grep -A 3 position

Then, use this information to populate the corresponding parameters in tictactoe.launch : "ttt_controller/tile_pile_position and ttt_controller/board_corner_poss.

Run the demo

• Make sure the board is empty
• Open a new terminal
• cd to ~/ros_ws
• source devel/setup.bash
• ./baxter.sh (this has to be done with any terminal that will interface with the Baxter)
• rosrun baxter_tools tuck_arms.py -u
• roslaunch baxter_tictactoe tictactoe.launch
• Exit program

Shut down the robot

• Open a terminal:
• cd to ~/ros_ws
• source devel/setup.bash
• ./baxter.sh (this has to be done with any terminal that will interface with the Baxter)
• rosrun baxter_tools tuck_arms.py -t