Download

This is a collection of nodes to run the PR2 Rubik's Cube solver. The code can be obtained via:

git clone git://github.com/uu-isrc-robotics/pr2_rubiks_solver.git

or by visiting https://github.com/uu-isrc-robotics/pr2_rubiks_solver.

In addition to the ROS dependencies, the stack requires NetworkX at least version 1.5.

Quick Guide

• Start the nodes using roslaunch rubiks_inspect rubiks.launch. This launch file assumes that the PR2 computers are called "c1" and "c2".

• Type 'ok' <enter> on the keyboard to have to robot ready to receive the cube.

• Place the cube in the robot's right gripper so that two centre-bottom faces are perfectly alligned with the robot's rubber finger (see figure).

• Type 'ok' <enter> on the keyboard. The robot will start scanning the cube.

• If the robot could not get the colours right, it will ask for a manual editing.

  • Type 'yes' <enter>

  • A window with the palette will be shown. If the colors are wrong press 'r', otherwise press 'a'.
  • All the 6 faces will be shown. For wrong colour click on the palette on the left and then click on the square on the right (see figure).
  • Press 'a' when to accept on face an move to the next.
• If the colours are correctly detected, the robot will start solving the cube.

Detailed Instructions

TODO

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