hlhfhmt / kinect_based_arm_tracking Goto Github PK
View Code? Open in Web Editor NEWThis project forked from seanshi007/kinect_based_arm_tracking
Great Kinect arm tracking project with baxter
This project forked from seanshi007/kinect_based_arm_tracking
Great Kinect arm tracking project with baxter
Demo Description This is a demo that makes baxter to mimic the arm motion of a human.It use a package, openni_tracker, to get the data of a human body, which is in fact some tf frames related to the camera.Then, it translates these frames to arm angles, which are used to control the baxter. What we need baxter robot(real or in gazebo) microsoft kinect How to use this demo We had some problems in working with the openni in the first place, which showed some errors when we tried to use openni to connect the kinect.Then, following the solution of BastiAB in this website: ros-drivers/openni_tracker#9 (comment) We make it work Here are the steps we take to run the demo: 1.follow the instructions of BastiAB in ros-drivers/openni_tracker#9 (comment) 2.connect the kinect to your PC 3.open a terminal, run: roslaunch openni_launch openni.launch this command will use openni to connect to the kinect then, open a terminal, run: rosrun openni_tracker openni_tracker this command will run the tracker code and thus generate skeletons of human bodies. 4.open a terminal, run: rosrun rviz rviz when rviz is launched, choose "openni_depth_frame" in Fixed Frame, add TF to display. You should see a least one skeleton of a human body now. If nothing shows, make sure some one stands in front of the kinect. 5.choose the index of the body you want to track in rviz. open our puber code, change the value of "user_index" for example: we want to tract the person with 'head_1', then we change the value of "user_index" to be '1' in tf_listen_v8_puber.py now, open a terminal, run: rosrun [package_name] tf_listen_v8_puber this command will make our puber run. the puber is used to receive and smooth the data of the tracked body, then publish them. 6.open a terminal, run: rosrun [package_name] tf_listen_v8_controller this command will make our controller run. it subscribes to the topics of smoothed data published by our puber, and controls the baxter accordingly. 7.now move your arms in front of the kinect, and the baxter will mimic you! Demo Video Link https://www.youtube.com/watch?v=U5lJFFy4i3A Feel free to ask or comment!(this may be a bad "read me", grammatically)
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.