Playing Checkers with Baxter

Introduction

Remake of https://github.com/moribots/final-project-checkers

How to Use

1. Software Setup

• Ubuntu 20.04
• ROS Noetic
• Baxter SDK for Ubuntu 20.04 can be found on this site: http://cothinkrobotics.com
• Clone this repository

  cd ~/ros_ws/src
  git clone https://github.com/soon-jynn-chu/baxter_adapt_in_checkers.git
  cd ..
  catkin_make

• Install dependencies

  pip3 install opencv-python==4.7.0.72 ultralytics==8.0.50 onnxruntime==1.14.1

2. Physical Setup

• Remove left grippers
• Set up board
  • Our custom made printables can be found here https://github.com/soon-jynn-chu/checkers-piece-detection
  • The checkers piece we use has a diameter of 1.5 inch
• Running the code (make sure you run ./baxter.sh in ~/ros_ws before running the following code)
  • Open a terminal

    cd ~/ros_ws
    roslaunch baxter_play_checkers initialize_baxter.launch

  • In the 2nd terminal

    rosrun baxter_play_checkers bridge.py

  • In the 3rd terminal

    rosrun baxter_play_checkers pickplace.py

    • You may need to calibrate the reference frame for the first time. Just follow the instructions on the terminal.

    • Make sure board is alinged properly with Baxter's arm like this:

      

    • You can run this to view

      rosrun baxter_play_checkers show_image.py

  • In the 4th terminal

    rosrun baxter_play_checkers checkers_fsm.py

    • Continue following the instructions on the terminal.
  • You can also play some voice by running this on the 5th terminal

    rosrun baxter_play_checkers speech.py

Reference

• https://github.com/moribots/final-project-checkers
• Facial Emotion Recognition: https://github.com/oarriaga/face_classification
• Checkers AI: https://github.com/dimitrijekaranfilovic/checkers