This package implements a robotic assistant for motion-impaired chess player. To date, the robot cannot play autonomously. The main goal of the application is the robust execution of the moves requested by the player via an accessible interface (joystick, touchpad, mouse, vocal command) using the standard chess equipment used in official competitions.

See the instructions to run the application on the PAL Robotics TIAGo robot.

To do.

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• add documentation
  • add documentation inside the code
  • add user instructions to the README

• remove the need for the manual positioning of the arm during the setup
• improve move recognition/game tracking
  • reduce the setup steps
  • make the tracking more robust
• improve game saving/new game
  • remove the need to duplicate the game situation file
  • remove the need to manually edit the ready flag
  • unify tiago_chess.launch and tiago_chess_pronto.launch
  • implement a GUI screen with the "New game"/"Load game"

• refactor code
  • avoid duplicates
  • expose topics for remapping
  • remove hardcodings
• remove Open3D dependency

• add vocal control

• setup TIAGo simulation(s)
  • complete game setup (chessboard with pieces, box, and clock)
  • initial setup (complete game setup with ArUCo)
  • chessboard only
  • chess-set only
• tidy the package (e.g. temporary files to temp -or similar- folder)