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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'.

Alvar Manager

By Ian Wakely

Alvar manager takes care of Alvar marker discovery and waypoint tracking. Discovery is enabled and disabled using a custom service. It is enacted depending on states of the state machine. Waypoint management for each Ar marker uses a publisher for other states that need waypoint data for move base goal setting.

Egg Detect

By Akhil Kurup Each iteration of loop search basket for different colored egg based on config parameters for each color. Calibration on one basket may have lower accuracy on another basket from varying lighting conditions.