Differences

This shows you the differences between two versions of the page.

--- pepper-imitation:pepper-imitation [2018/06/28 19:37]
s4pepper2018
+++ pepper-imitation:pepper-imitation [2018/06/28 19:57]
s4pepper2018
@@ Line 19: / Line 19: @@
 The chosen framework was ROS (the only tested version was kinetic), written mainly in C++, with some parts in python.
-===== Installation =====
+===== Installation and Set Up =====
 The code is fully available [[https://github.com/Thordreck/pepper-imitation-pkg|here]]. The repo should be clone directly into the src folder of a catkin workspace.
@@ Line 63: / Line 63: @@
   * When all the gestures are done and the music ends, Pepper thanks the user and the game goes back to its first state. The user can then click on the tablet again to re-start the game without having to input his name again.
-===== Known issues and limitations =====
+===== Known Issues and Limitations =====
+  * The synchronization process is hardcoded. As such, correct synchronization will only be achieved if the same file is used (it is available in the robot's internal memory in /home/pepper/resources/audio), The state machine waits until the file is played to a given time (usually the time when a new gesture is started).
+  * The way openni_tracker publish the skeleton information (using TF frames following the convention <body_part>_<id>, for example torso_1) poses some problems when people are lost and new ids are assigned. This is due to old TF frames still being listed in by ROS even after a while. An easy solution to this would be to query the TF frames, but keep only those with the highest id value.
+  * As of now, only one person is tracked. However, adding multiple person's body poses verification should be rather trivial.
+===== Future Work =====