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
nao_robot
nao_meshes
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

$ roslaunch teleoperation calibration.launch

The NAO will tell you what to do.

After that you can launch the teleoperation routine by running.

$ roslaunch teleoperation fulltest.launch

If you want our awesome GUI, run

$ roslaunch nao_bringup nao_full.launch
$ roslaunch teleoperation with_gui.launch

This diagram depicts what you should expect from the teleoperation routine.

Since this package relies on the NAO voice recognition, you must be in the same room with NAO, and the room must be quiet.