The aim is to create ros packages and set up a small pipeline for finding objects on top of a table and offer a service for returning the position and the volume of these. For the sake of simplicity we assume that these objects are clearly separated, meaning that they are spread around the table in an orderly manner, neiter touching nor occluding each other.

Please install the system according to the instructions here: https://ai.uni-bremen.de/wiki/software/ros/installation

Before you start workin on the assignment, make sure to have completed the 'beginner level' tutorials from http://www.ros.org/wiki/ROS/Tutorials and you understand how to subscribe to a topic and create a new service and message types.

We have created a git repository for the code you will develop at:

https://github.com/ai-seminar/group-perception

Add this to your ROS workspace:

rosws set group_perception --git https://github.com/ai-seminar/group-perception.git
rosws update
source ~/.bashrc

Create the three ROS packages and as a first step commit and push the empty packages to the repository.