Course_FlexBe_Unit4.ipynb

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   "source": [
    "# OpenAI Baselines MicroCourse"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/flexbe_img.png\" width=\"1000\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/robotignite_logo_text.png\" width=\"400\"/>"
   ]
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   "source": [
    "## Unit 4: Project"
   ]
  },
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   "source": [
    "## Parrot AR Drone"
   ]
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   "source": [
    "For this part of the project, you will use the ARDrone."
   ]
  },
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   "cell_type": "markdown",
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   "source": [
    "<img src=\"img/drone.jpg\" width=\"400\" />"
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   "source": [
    "Take a stroll around to have a closer look at the terrain and all the elements. Also, get used to how the AR Drone performs. Below you can see all the commands needed in order to control the Drone."
   ]
  },
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   "source": [
    "**Takeoff**"
   ]
  },
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   "source": [
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #1</p>\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
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   "source": [
    "rostopic pub /drone/takeoff std_msgs/Empty \"{}\""
   ]
  },
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   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**Land**"
   ]
  },
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    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #1</p>\n",
    "</th>\n",
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   "source": [
    "rostopic pub /drone/land std_msgs/Empty \"{}\""
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**Move Around**"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #1</p>\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
   ]
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  {
   "cell_type": "code",
   "execution_count": null,
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    "collapsed": true
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   "outputs": [],
   "source": [
    "rosrun teleop_twist_keyboard teleop_twist_keyboard.py"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Tasks to accomplish"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 1. Create two different states: one to make the drone take off and another one to land it."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 2. Create an Actionlib state and its corresponding Action Server. The purpose of this state will be to move the drone in the air, in a square-shaped movement; something like this:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/drone.gif\" width=\"400\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 3. Create a new behavior that will connect all the previous states. The flow will go as follows:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "1. First, the drone will take off.\n",
    "2. Second, it will perform the square-like movement.\n",
    "3. Finally, it will land. "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 4. Generate unit tests for all of these states."
   ]
  }
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   "chapter": "5 - Grasping",
   "chapter_title": "Unit 5. Grasping",
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