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This project forked from westpoint-robotics/face_shooter
CMake 1.55%
C++ 28.50%
Python 67.45%
Shell 2.50%
face_shooter's Introduction
Use extreme caution when using a autonomously shooting loaded gun.
This code controlls a pan tilt machanism with an airsoft rifle mounted on it. It locates a human face and then shoots it.
Create an alias for each device
sudo su
Setting up UDEV rules to alias Arduino and the Dynamixel controllers
echo 'SUBSYSTEM=="tty", ATTRS{idProduct}=="0043", ATTRS{idVendor}=="2341", SYMLINK+="arduino", ACTION=="add", GROUP="dialout", MODE="0660"' >> /etc/udev/rules.d/99-arduino.rules
echo 'SUBSYSTEM=="tty", ATTRS{idProduct}=="06a7", ATTRS{idVendor}=="16d0", SYMLINK+="dynamixel", ACTION=="add", GROUP="dialout", MODE="0660"' >> /etc/udev/rules.d/99-dynamixel.rules
udevadm control --reload-rules
exit
from su
- Install dependency:
sudo apt-get install ros-kinetic-dynamixel-controllers ros-kinetic-usb-cam ros-kinetic-uvc-camera
To manually adjust the pan or tilt from cli:
rostopic pub -1 /tilt_controller/command std_msgs/Float64 -- 0.5
rostopic pub -1 /pan_controller/command std_msgs/Float64 -- 0.5
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