Setup (any linux)

• Download flatpak, download snes9x for flatpak
• Find a Zelda ROM
• Screencap with mss at the location of the emulator window
• Make sure the emulator window is selected

SNES button mapping

A => "r" (/interact)

B => "d" (/swing)

Y => "s" (/item)

X => "e" (/map)

START => "q" (/menu)

Run

roscore

python zelda_bridge_node.py (you will have to be root (sudo su, then source ros) for keyboard module to work)

rosrun image_transport republish raw in:=/camera/rgb/image_raw compressed out:=/camera/rgb/image_raw