Overviw

ROS-service of the famous two phase algorithm by Herbert Kociemba. This project's base is forked from a early version from https://github.com/hkociemba/RubiksCube-TwophaseSolver. I reordered the file locations and adjusted the code to run on python 2.7 My image processing approach for scanning a cube can be found inside scripts/image_processing.py Note, that this approach only works for black cube bases and homogenous matte sticker colors.

Usage

1. build your catkin workspace
2. $ roslaunch twophase_solver_ros solver.launch
3. have another ROS node sending a "request" in form of a CubeDefinitionString (example can be found at scripts/cubedefstring.example)

ROS

may work for newer versions of ROS, but was designed to run on melodic