added scripts to show cam feed from left arm,and move left arm to hov…

…er above table

.gitignore

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+# Misc #
+########
+*~
+*TAGS
+
+# Compiled source #
+###################
+*.com
+*.class
+*.dll
+*.exe
+*.o
+*.so
+*.pyc
+
+# Packages #
+############
+# it's better to unpack these files and commit the raw source
+# git has its own built in compression methods
+*.7z
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.zip
+
+# Logs and databases #
+######################
+*.log
+*.sql
+*.sqlite
+
+# OS generated files #
+######################
+.DS_Store?
+ehthumbs.db
+Icon?
+Thumbs.db
+
+# Project specific files #
+##########################

launch/baxter_sw.launch

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+<launch>
+
+    <!-- Open baxter's right hand camera and set the required resolution -->
+
+    <node pkg="baxter_tools" type="enable_robot.py" name="enable_robot" args="-e" />
+
+    <node pkg="baxter_tools" type="camera_control.py" name="open_left_camera" output="screen"  args="-o left_hand_camera -r 1280x800" />
+
+  	<node name="starbax" pkg="starbax" type="starbax_sw.py">  </node> 
+
+    <node name="table_cam" pkg="starbax" type="table_cam_sw.py">  </node>
+
+</launch>

src/starbax_sw.py

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+#!/usr/bin/env python
+import rospy
+from math import pi
+import baxter_interface
+
+# def main():
+rospy.init_node('initial')
+# Define your image topic
+
+limb = baxter_interface.Limb('left')
+angles = limb.joint_angles()
+
+angles['left_s0']=-pi/4
+angles['left_s1']=-pi/4
+angles['left_e0']=0.0
+angles['left_e1']=pi/4
+angles['left_w0']=0.0
+angles['left_w1']=90*pi/180
+angles['left_w2']=pi
+
+limb.move_to_joint_positions(angles)
+
+
+
+
+# if __name__ == '__main__':
+# 	main()

src/table_cam_sw.py

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+#!/usr/bin/env python
+import rospy
+import numpy as np
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+import cv2
+from matplotlib import pyplot as plt
+
+class starbaxHome:
+
+	def __init__(self):
+
+		self.bridge = CvBridge()
+		image_topic = "/cameras/left_hand_camera/image"
+		self.sb = rospy.Subscriber(image_topic, Image, self.image_callback)
+		self.gotMask = False
+	def image_callback(self,msg):
+
+		# Convert your ROS Image message to OpenCV2
+		table = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+		cv2.waitKey(3)
+		hsv_frame = cv2.cvtColor(table, cv2.COLOR_BGR2HSV)
+		if self.gotMask == True:
+			self.Mask = cv2.inRange(hsv_frame,self.lower,self.upper)
+			table = cv2.bitwise_and(table,table,mask=self.Mask)	
+		else:
+			self.gotMask = True
+			hist_maskH = cv2.calcHist([hsv_frame],[0],None,[180],[0,180])
+			hist_maskS = cv2.calcHist([hsv_frame],[1],None,[256],[0,256])
+			flipH = (hist_maskH[::-1].copy())
+			flipS = (hist_maskS[::-1].copy())
+			index = np.where(max(hist_maskH))
+			start = 0
+			end = 0
+			if index >= 80:
+				start = 80
+			else:
+				end = 80
+				print 'greater'
+			l_h = np.argmax(hist_maskH[start:]>max(hist_maskH)*.02) + start
+			l_s = np.argmax(hist_maskS>max(hist_maskS)*.02)
+			u_h = 180 - (np.argmax(flipH[end:]>max(flipH)*.02)+end)
+			u_s = 256 - np.argmax(flipS>max(flipS)*.02)
+			print l_h,l_s,u_h,u_s
+			# plt.figure('histogram')
+			# plt.subplot(211)
+			# plt.plot(hist_maskH,'r')
+			# plt.subplot(212)
+			# plt.plot(hist_maskS,'g')
+			# plt.show()
+			self.lower = np.array([0,l_s,0],np.uint8)
+			self.upper = np.array([30,u_s,255],np.uint8)
+
+		cv2.imshow('table',table)
+
+
+def main():
+
+	ic = starbaxHome()
+  	rospy.init_node('table_cam')
+
+	try:
+		rospy.spin()
+	except KeyboardInterrupt:
+		cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+	main()