implemented YAML parsing for rviz_human

script/calibrator.py

@@ -49,6 +49,22 @@ def calibration():
     except Exception:
         pass
 
+    tts.say('Now place the markers on the corresponding shoulders')
+    tts.say('Make sure the markers are detected')
+    tts.say('Then say start')
+    client.send_goal(RequestSpeechGoal(['start']))
+    client.wait_for_result()
+
+    try:
+        lsh, _ = ll.lookupTransform('Aruco_0_frame',
+                                    'Aruco_1_frame',
+                                    rospy.Time(0))
+        rsh, _ = ll.lookupTransform('Aruco_0_frame',
+                                    'Aruco_2_frame',
+                                    rospy.Time(0))
+    except Exception:
+        pass
+
     tts.say('Now rotate to your right')
     tts.say('So that marker is still detected')
     tts.say('Then say start')