purdueECE477

mtx: [[ 571.75864487 0. 630.67238944] [ 0. 571.38160776 356.21218923] [ 0. 0. 1. ]]

dist: [[-0.28155159 0.09339524 -0.00264697 -0.00076021 0.06938456]]

ncm: [[ 533.23010254 0. 631.92690463] [ 0. 499.39093018 353.75964042] [ 0. 0. 1. ]]

roi: (169, 139, 873, 432)

total error: 0.002428373180923953

run this cmd every time open new terminal when working with ROS source devel/setup.bash

ROS nodes: remember to chmod +x for new py files as nodes

1. ball_detection sends BallPosImg.msg to fetch_ball done receives stop bool from fetch_ball done
2. fetch_ball receives BallPosImg.msg from ball_detection done sends stop bool to ball_detection done sends Drive.msg to uart done sends start bool to return_to_sender done sends close_arms bool to uart done
3. uart receives Drive.msg from fetch_ball done receives closeArms from fetchBall done sends IMU.msg to return_to_sender done receives Drive.msg from return_to_sender done
4. return_to_sender receives start bool from fetch_ball done receives imu.msg from uart done sends Drive.msg to uart done

to run uart: sudo chmod a+rw /dev/ttyTHS1

to run whole thing: roslaunch fetch_bot run.launch

return to sender isn't going to work bc it doesn't stop running the motors need to keep uart and RTS on to make sure bot goes back to OG spot, then stop motors