TKURoboSot

TKU Team participate in FIRA RoboSot league.

Packages Required

$ sudo apt-get install ros-kinetic-prosilica-camera
# camera ip is 192.168.16.100
$ sudo apt-get install ros-kinetic-rosbridge-server
$ sudo apt-get install ros-kinetic-web-video-server

Build

Need to build package imu_3d and vision first, because there are some msg need to build first. After that, build all

$ cd fira_ws/
$ catkin_make --pkg imu_3d
$ catkin_make --pkg vision
$ catkin_make

Quickly start Robot

$ roslaunch fira_launch main_launch.launch

Set robot's vision parameter. When you parameter setting has been completed,you might close this command on terminal.
$ rosrun vision interface_node

$ rosrun strategy teamStrategy
$ rosrun strategy FIRA_strategy

Step-by-step setting guide

1.Open the roscore. 
$ roscore
2.Load parameter.
$ rosparam load src/fira_launch/default_config/vision_better.yaml
    * NB: If you want to load camera parameter only, using following command.
    $ rosparam load src/vision/prosilica_parameter /prosilica_driver
3.Start motion node.
$ rosrun motion Attack_motion
    * NB: You can testing the motion of robot by publishing /motion/cmd_vel topic
4.Using mjpeg_server to stream image topic.
$ rosrun mjpeg_server mjpeg_server 
5.Start user interface node. 
$ rosrun vision interface_node 
6.Start image processing node.
$ rosrun vision monitor
7.Start rosbridge node.
$ roslaunch rosbridge_server rosbridge_websocket.launch
8.Run the FIRA strategy include two nodes.
   i.  Team strategy
   $ rosrun strategy teamStrategy
   ii. Personal strategy
   $ rosrun strategy FIRA_strategy