15-494/694 Cognitive Robotics: Lab 7

I. Software Update and Initial Setup

$ cd vex-aim-tools
$ git pull

II. Building Walls

1. Look at the file aim_fsm/wall_defs.py to see how to define a wall.
2. You will be given the following supplies:
   • A wall
   • A sheet of adhesive stickers with ArUco markers
   • Some plastic feet
3. Select which markers to use for your wall. Do not use markers 17 or 37. These have patterns that are prone to spurious detection, so the software disables them.
4. Put four unique markers on the front side of your wall, and another four on the back side. Unlike the example file where the markers are random, choose your markers in ascending order left-to-right. The markers need to be near the bottom edge of the wall so that they will remain visible in the camera image when the robot gets close.
5. Using a ruler, measure the length of your wall, and the x and y positions of each of your markers. Measure the position to the center of the marker, not one of the edges. Measure the x position from the left edge for the front of the wall and from the right edge for the back of the wall. Measure the y position from the bottom edge.
6. Replace the wall definition in wall_defs.py with your own wall definition.
7. Run simple_cli and observe the wall in the worldmap viewer.
8. Try covering one or two markers and notice that the wall is still detected as long as at least one marker remains visible.
9. Use the particle viewer to drive the robot around and notice that the wall remains stable.
10. Take screenshots showing the camera viewer and worldmap viewer recognizing your wall.

What to Hand In

Homework