DOCUMENT IT

README.md

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+# Teleoperation NAO
+
+## Project description
+
+This ROS package allows you to remotely control a NAO robot by standing in
+front of a webcam and having two ArUco markers on the hands and one ArUco
+marker on the chest.
+
+You can move a NAO around using a "Human Joystick" approach and make NAO
+imitate your arm motions.
+
+## Requirements
+
+* ROS Indigo on Ubuntu 14.04
+* [aruco_ros](http://wiki.ros.org/aruco_ros)
+* [nao_robot](http://wiki.ros.org/nao_robot)
+* [nao_meshes](http://wiki.ros.org/nao_meshes)
+* [usb_cam](http://wiki.ros.org/usb_cam)
+
+## Usage
+
+Hang an ArUco #0 marker on the chest, take the #1 in the left hand and #2 in
+the right hand. The markers should be 15cm high/wide. Then you can run
+
+```sh
+$ roslaunch teleoperation calibration.launch
+```
+
+The NAO will tell you what to do.
+
+After that you can launch the teleoperation routine by running.
+
+```sh
+$ roslaunch teleoperation fulltest.launch
+```
+
+If you want our awesome GUI, run
+
+```sh
+$ roslaunch nao_bringup nao_full.launch
+$ roslaunch teleoperation with_gui.launch
+```
+
+This diagram depicts what you should expect from the teleoperation routine.
+
+![State Machine](docs/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.