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more documentation

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Pavel Lutskov
2019-02-28 15:00:40 +01:00
parent ef4dafdaf4
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README.md
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@@ -17,6 +17,10 @@ imitate your arm motions.
* [nao_meshes](http://wiki.ros.org/nao_meshes)
* [usb_cam](http://wiki.ros.org/usb_cam)
We installed the dependencies by cloning them to our workspace and running
`catkin_make`, but sudo apt install ros-indigo-package-name should work even
better.
## Usage
Hang an ArUco #0 marker on the chest, take the #1 in the left hand and #2 in
@@ -41,9 +45,13 @@ $ roslaunch nao_bringup nao_full.launch
$ roslaunch teleoperation with_gui.launch
```
If any problems arise with the GUI, such as the NAO not getting properly
displayed, try pointing the rviz to the correct NAO `.urdf`, which should be
somewhere in the `nao_description` package.
This diagram depicts what you should expect from the teleoperation routine.
![State Machine](docs/teleoperation_overview.png)
![State Machine](docs/figures/teleoperation_overview.png)
Since this package relies on the NAO voice recognition, you must be in the same
room with NAO, and the room must be quiet.