The aim of Task 3 is to get you hands on with remote hardware and simultaneously work on your program in simulation to progress towards full theme implementation.

Install the following packages:

sudo apt install ros-humble-image-transport ros-humble-image-transport-plugins

Update your repository before you move ahead with TASK 3

(NOTE: Navigate inside the src folder of your workspace, before proceeding further)

git stash

• Then pull the updated Task 3 commits from the repo using-

git pull
git checkout tags/v2.3.1 . # if doesn't work try `git fetch` and try again

• And again pop your changes you've made before from stash using-

git stash pop

• Do colcon build to build the workspace with updated packages.

• NOTE: After any changes in any files, to reflect the same on workspace you need to do colcon build

• If you want to skip this step of building every time a file (python script) is changed (note: this doesn't include addition of file or addition of folder), you may use the colcon build --symlink-install parameter with the build command. (Surf over the internet to find more about it)

This task is divided into two parts:

3A Remote Hardware Task - Object Pose Estimation

Locating Aruco in the camera view with respect to arm and sending transforms

3B Simulation Task - Dock, Pick and Place

Dock the rack using ebot towards robot arm and pick and place in dropbox