PR2

Overview

Developed ROS module for PR2 to ride elevator in a building.
Used a state-machine based cortex module to switch between the floor plans and navigate.
AR markers used for identification of location of buttons.
Required precision planning as the buttons' dimension was about 0.5in x 0.5in.
As the PR2 changes levels in the buildings, the floor map is updated to the relevant floor dynamically.

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