Gesture based HRP control

Required Hardware

1. HRP-enabled mower;
2. Android smartwatch;
3. Android phone;
4. Laptop with Ubuntu distribution.

Required Software

1. IMU Stream
2. MQTT ROS Bridge
3. Gesture based controller
4. AM Drivers

Setup Guide

1. Follow the IMU Stream guide to properly install wearable and mobile apps;

2. Clone in the src folder of your catkin workspace the MQTT ROS Bridge, Gesture based controller and AM Drivers repositories;

3. Build your catkin workspace

   catkin_make

4. Install the Mosquitto broker has described in the MQTT ROS Bridge repository;

5. Connect the target computer to the HRP-enabled mower with a USB cable;

6. Activate the USB port communication with the command;

   sudo chmod 666 /dev/ttyACM0

7. Disable the loop wire check;

8. Rune the roscore;

   roscore

9. Run the am_driver;

   rosrun am_driver am_driver_node

10. Run the hrp_gb_controller;

    roslaunch gesture_based_controller hrp_gb_controller.launch

11. Connect Smartphone and Laptop to the same WiFi network;

12. Check the Mosquitto broker status;

    sudo service mosquitto status

13. If the Mosquitto is not running, start it;

    mosquitto

14. Start the imu_bridge;

    roslaunch mqtt_ros_bridge imu_bridge.launch

15. Start IMU Stream app on the smartwatch and press start, IMU data stream will appear on the monitor;

16. Start IMU Stream app on the smartphone and press MQTT comunication;

17. Insert the IP of your laptop, leave default port 1883 and empty the user/password fields;

18. As soon as you press the Start button the communication between the smartphone and the computer is established and the gesture-based controller starts working.

Further readings

1. Huqvarna HRP Instruction

Authors

• Alessandro Carfì, dept. DIBRIS Università degli Studi di Genova (Italy), alessandro.carfi@dibris.unige.it
• Barbara Bruno, dept. DIBRIS Università degli Studi di Genova (Italy), barbara.bruno@unige.it