<<StackHeader(austinvilla)>>

ROS packages for work done by the Austinvilla Robot Soccer Team at the University of Texas at Austin.

== Overview ==

This stack currently contains the code to run a ground truth system specifically designed for the Standard Platform League (SPL) in Robocup robot soccer competition. Details are available in the paper below.

'''A Low Cost Ground Truth Detection System Using the Kinect'''.
[[http://www.cs.utexas.edu/~piyushk|Piyush Khandelwal]] and [[http://www.cs.utexas.edu/~pstone|Peter Stone]]. In Thomas Roefer, Norbert Michael Mayer, Jesus Savage, and Uluc Saranli, editors, RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2012. To appear.
[[http://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-LNAI11-piyush.html|Details]] [[http://www.cs.utexas.edu/~pstone/Papers/bib2html/LNAI11-piyush.bib|BibTeX]] Download: [[http://www.cs.utexas.edu/~pstone/Papers/bib2html-links/LNAI11-piyush.pdf|pdf]] [[http://www.cs.utexas.edu/~pstone/Papers/bib2html-links/LNAI11-piyush.ps|ps]]   

== Installation ==

1. Install ROS Diamondback. Follow the instructions [[http://www.ros.org/wiki/diamondback/Installation/Ubuntu|here]]. The desktop-full install is required.

2. Install the following additional packages.
 {{{
sudo apt-get install ros-diamondback-perception-pcl-addons ros-diamondback-openni-kinect
}}}

3. [[color_table]] has a dependency on the [[eros]] stack. This package is currently available from source. The [[eros/Installation|installation instructions]] are summarized below.
 {{{
cd
mkdir kinect-stuff
cd ~/kinect-stuff
svn co https://code.ros.org/svn/eros/tags/diamondback eros
}}}

4. Download the source code for the [[austinvilla]] stack
 {{{
cd ~/kinect-stuff
svn co https://utexas-ros-pkg.googlecode.com/svn/trunk/stacks/austinvilla austinvilla
}}}

5. You will need to update your ''~/.bashrc'' file with the locations of these 2 stacks. Add these lines after the original line added during the ROS installation
 {{{
source /opt/ros/diamondback/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/kinect-stuff/eros:~/kinect-stuff/austinvilla
}}}
Remember to call ''source ~/.bashrc'' for ros to index the stacks in the current terminal window.

6. If the installation has been successful, you should be able to build the packages. First install any remaining system dependencies, and then call rosmake.
 {{{
rosdep install austinvilla
rosmake austinvilla
}}}
== Report a Bug ==

Please email any bug reports to <piyushk AT cs DOT utexas DOT edu>

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