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pepper-imitation:pepper-imitation [2018/06/28 19:16] s4pepper2018 |
pepper-imitation:pepper-imitation [2018/06/28 19:26] s4pepper2018 |
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| * pepper_imitation: the system developed by the S4 team. | * pepper_imitation: the system developed by the S4 team. | ||
| - | Dependencies (and even ROS itself if not present in the system), can be installed by running installDependencies.sh in pepper_imitation/installDependencies.sh. | + | Dependencies (and even ROS itself if not present in the system), can be installed running installDependencies.sh in pepper_imitation/installDependencies.sh. |
| ===== Running the game ===== | ===== Running the game ===== | ||
| - | The game sequence can be started by running the roslaunch file pepper_imitation_game.launch. The skeleton tracker and the kinect driver are to be run separately using the file pepper_imitation_kinect.launch. | + | The game sequence can be started by running the roslaunch file pepper_imitation_game.launch. |
| + | The skeleton tracker and the kinect driver are to be run separately using the file pepper_imitation_kinect.launch. | ||
| + | Body pose checks can be disabled in pepper_imitation_node.launch, setting the "skip_pose_checks" parameter to true. If disabled, the game will assume all the checks to be correct. | ||
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| ===== Architecture ===== | ===== Architecture ===== | ||
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| * pepper_tablet_node: pops up an input box for the user to type his name before starting the game. | * pepper_tablet_node: pops up an input box for the user to type his name before starting the game. | ||
| * pepper_imitation_node: command the different gestures and checks if the detected person's pose - if any - is similar. | * pepper_imitation_node: command the different gestures and checks if the detected person's pose - if any - is similar. | ||
| - | * pepper_teleop_joy_node: r | + | * pepper_teleop_joy_node: allows to control the robot's movement and rotation using a joystick. Keep in mind that the default joystick's values defined in the node have been set up to match those of a wired Xbox controller. |
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| + | All this nodes can be run separately and commanded by publishing in their respective topics, allowing a Wizard of Oz-ish level of control. | ||
| + | The actual game and synchronization is achieved by means of a state machine, defined in "pepper_imitation_game_node.py" file. SMACH was the library chosen for this. | ||
| ===== Known issues and limitations ===== | ===== Known issues and limitations ===== | ||