# 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.