INSTRUCTIONS FOR SKELETAL TRACKING :

Step 1 : SET UP ROS ENVIRONMENT source ./catkin_ws/devel/setup.bash

Step 2 : RUN ROS MASTER roscore

Step 3 : LAUNCH Openni_Launch roslaunch openni_launch openni.launch

Step 4 : Launch skeleton_markers roslaunch skeleton_markers skeleton.launch

Step 5: Launch Rviz Rviz roslaunch r2d2 humanskel.launch

→ Add robot model to Rviz → Change fixed frame to openni_depth_frame → Add /tf to the frame .

Step 6: Run Python script to obtain information about joint positions and orientations rosun r2d2 listener.py

INSTRUCTIONS FOR PICK AND PLACE:

Step 1 : SET UP ROS ENVIRONMENT source ./catkin_ws/devel/setup.bash

Step 2 : RUN ROS MASTER roscore

STEP 3: Launch the PR2 robot
roslaunch hrc_moveit_generated demo.launch

STEP 4: Run Python script to visualize the 'pick' operation. python simplepick.py