Materials

Code

The code is available on GitHub.

Launch files written for this project include:

1. ar_tracking.launch: Runs two ar_track_alvar nodes (one for individual tile markers, the other for the board as a bundle).
2. baxter_moveit_headless.launch: Runs the MoveIt planner and Baxter joint trajectory action server without launching an RViz GUI.
3. baxter_moveit_gui.launch: Like baxter_moveit_headless.launch, but with the GUI and without trajectory execution.
4. baxter_state_publisher.launch: Publishes the robot’s links and joints to TF. You won’t need to use this unless Baxter starts with its links disconnected.
5. tetris.launch: Invokes the main Tetris solver and pick-and-place module. It also runs the first three launch files above, so it suffices to launch from this file only.

Laser Cut File

The laser cut file for the board and pieces can be found here.