67 lines
2.0 KiB
Markdown
67 lines
2.0 KiB
Markdown
# Teleoperation NAO
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## Project description
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This ROS package allows you to remotely control a NAO robot by standing in
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front of a webcam and having two ArUco markers on the hands and one ArUco
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marker on the chest.
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You can move a NAO around using a "Human Joystick" approach and make NAO
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imitate your arm motions. For more details, read our
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[report](docs/report.latex) or watch our
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[video](https://drive.google.com/file/d/1h1MZO6kPd4VyjMptRxQcwrqtgqMW1eyE/view)
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.
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Our package relies on the NAO being reachable from the computer and the
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environment variable `NAO_IP` being set to the IP address of the NAO.
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Our main code is written in Python and located in `script/` with the ArUco
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detection and rviz GUI logic in C++ in `src/`.
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## Requirements
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* ROS Indigo on Ubuntu 14.04
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* [aruco_ros](http://wiki.ros.org/aruco_ros)
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* [nao_robot](http://wiki.ros.org/nao_robot)
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* [nao_meshes](http://wiki.ros.org/nao_meshes)
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* [usb_cam](http://wiki.ros.org/usb_cam)
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We installed the dependencies by cloning them to our workspace and running
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`catkin_make`, but `sudo apt install ros-indigo-package-name` should work even
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better.
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## Usage
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Hang an ArUco #0 marker on the chest, take the #1 in the left hand and #2 in
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the right hand. The markers should be 15cm high/wide. Then you can run
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```sh
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$ roslaunch teleoperation calibration.launch
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```
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The NAO will tell you what to do.
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After that you can launch the teleoperation routine by running.
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```sh
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$ roslaunch teleoperation fulltest.launch
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```
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If you want our awesome GUI, run
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```sh
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$ roslaunch nao_bringup nao_full.launch
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$ roslaunch teleoperation with_gui.launch
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```
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If any problems arise with the GUI, such as the NAO not getting properly
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displayed, try pointing the rviz to the correct NAO `.urdf`, which should be
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somewhere in the `nao_description` package.
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This diagram depicts what you should expect from the teleoperation routine.
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Since this package relies on the NAO voice recognition, you must be in the same
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room with NAO, and the room must be quiet.
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