exp_assignment2

URDF Foulder :

1. the robot.xacro was modified with macros :

• added che macros for dimension for the head (box with x_head,y_head,z_head variables)

• added che macros for dimension for the chassis (box with x_chassis,y_chassis,z_chassis variables)

• added che macros for dimension for the neck (cylinder with length_neck,radius_neck variables)

• created come macros for the inertia with the variable on input to calculate for box and cylinder

2. the robot.xacro was modified with link and joints:

• added the link of the head and the neck
• added the joint of the head and the neck (initaly all two was fixed after i will change the head to be a revolute motion in z )

3. the robot.gazebo

• was added the material for the gazebo simulation
• was added after the plugin to controll the head movement

SCRIPT Foulder :

Created 2 new python file :

1. fsm.py , contain the state machine from smach with:

• NORMAL State , send random value to the /robot/cmd_vel and if detect the ball move to State PLAY;
• PLAY State , follow the detected ball untill the ball disapear and move to State SLEEP;
• SLEEP State , Move to the Home position but is bad implemente because the position is given from the odom because a word frame is not used, but wait some sec to the home and after move to State NORMAL;

2. cv.py , contain the OpenCV operation , if detect something publish to /robot/balldetec and the fsm.py sub to the topic to change the state to PLAY,and recive another flag from the fsm.py to start to follow the ball.

Problem with Debug:

• There are some commont part to control the join of the head,i could not implement it perfectly then i removed : revolute to fixed on .xacro file , trasmition component, config foulder and some line to launch the controll for the joint.