##alufr-ros-pkg
<<StackHeader(portrait_bot)>>

== Documentation ==
=== Prerequirements ===
To use this stack you will need:

 * a PR2 Robot
 * a canvas (for example a whiteboard on a table)
 * a thick pen (the PR2 must be able to hold it in its grippers)
 * a surface to put the pen on (for example the canvas)
 * a well lit room
 * enough room around the PR2
 * at least two persons (one at the basestation, and a photo victim)

=== Installation ===
The following steps need to be done on the robot as well as on the basestation. 

First you have to check out and rosmake the two stacks [[ee_cart_imped]] and [[people]].

To compile this stack from source you need to [[http://code.google.com/p/alufr-ros-pkg/source/checkout|checkout the code]] of the stack from the svn link stated above, add the source directory to your ROS_PACKAGE_PATH (e.g. in {{{~/.bashrc}}}), {{{source}}} that file and run

{{{
rosdep install portrait_bot
rosmake portrait_bot
}}}
That will download and compile the portrait_bot sourcecode, and compile all related ROS packages.

=== Tutorial ===
See [[portrait_bot/Tutorials/Running the portrait bot|the tutorial]] for how to run the portrait bot.

=== Video ===
<<Youtube(qVS7oylkTwY)>>

=== GUI ===
[[http://omnibus.uni-freiburg.de/~nm64/files/juergen-snapshot-noted2.jpg|Here]] is an annotated screenshot of the main GUI. {{attachment:main_gui.jpg|main gui frame|width="900"}}

== Repository ==
The code is located in the repository of the University of Freiburg [[alufr-ros-pkg]].

Files are available at [[http://code.google.com/p/alufr-ros-pkg/|Google Code]].

== Report a Bug ==
For problems related to the portrait_bot stack itself, contact [[http://www.informatik.uni-freiburg.de/~hess|Juergen Hess]].

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