Codebase Development

• Pick-n-Place
  • Look
  • Grasp
  • Lift
  • Flip
  • Release
  • Navigation(Base/Arm)
• Object Models

• Joystick Control (in progress) by Dirk Ruiken & Hee-Tae Jung
  • Driving by Dirk Ruiken
  • Pushup by Scott Kuindersma
  • Endpoint Controller by Hee-Tae Jung
  • How to run: roslaunch ubot5 joystick.launch & roslaunch ubot5 endpointcontrollers.launch & roslaunch ubot5 rviz.launch & roslaunch ubot5 server_loopback.launch
• Model-referenced Perception
• Q-Learning (SMACH)
• Model Based Planning
• RFID
• People Tracker
• Dexterous Mobility
  • Knuckle Walk
  • Prone Mobility
  • Transitions - Push up
• Hardware
  • Pan/Tilt Head
  • Hands
• C# Search Code
• Gesture Interface
• ARTag Dection by Shiraj Sen
  • How to run: roslaunch ar_pose ar_pose_multi_kinect.launch & roslaunch ubot5 kinect.launch
• Teleoperation I (in progress) by Hee-Tae Jung & Takeshi Takahashi
  • How to run: roslaunch ubot5 server_loopback.launch & roslaunch ubot5 rviz.launch & roslaunch ubot5 teleoperation.launch & roslaunch ubot5 teleoperation_joint_publisher.launch & roslaunch ubot5 gui.launch (optional)
  • Caution: teleoperation.launch SHOULD be launched BEFORE 'teleop_command_convert_joint
  • Suggested Setting: Main computer (server.launch, rviz.launch teleop_command_convert_joint), Laptop (teleoperation.launch)
  • Misc.: Run skype using LD_PRELOAD=/usr/lib32/libv4l/v4l1compat.so skype
• Data Logging (in progress) by Hee-Tae Jung & Takeshi Takahashi
  • Logging trajectories in multiple trackable frames
• Speech Recognition (in progress) by Hee-Tae Jung
  • For more information, read http://www.ros.org/wiki/pocketsphinx
  • How to run: build corpus file at http://www.speech.cs.cmu.edu/tools/lmtool.html & roslaunch pocketsphinx stroke.launch
  • Caution: microphones on Kinects are poorly supported by ROS, i.e. don't work properly

• Speech Synthesis (in progress) by Takeshi Takahashi & Hee-Tae Jung
• Multi-objective Control (in progress) by Hee-Tae Jung
  • How to run: roslaunch ubot5 server_loopback.launch & roslaunch ubot5 rviz.launch & roslaunch ubot5 multipointcontrollers.launch & rosrun uBotCartesianPositionController uBotMultiPositionController_Client_left -0.3 0.4 0.3 0.5 0.1 0.3
  • Caution: As of 6/25, the code works correctly. Need to test extensively on the uBot-5 to make sure though.