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Cellulo pointing gestures package

Description

This ROS package implements the method presented by Goromov et al in order to guide several Cellulo robots, thanks to the informations of the MetaMotionR1 from Metawear (Hardware datasheet, Software documentation). It uses the ROS framework to communicate between the different components. It also include the node ros_metawear_simple which publishes the data of the sensor fusion from the IMU.

Installation

  • This program run in python 2.7.
  • Clone this repository inside your desired catkin_ws/src then build it.

Dependencies

  • Python packages: Numpy, Scipy, PyKDL, transforms3D.
  • ROS: Already included messages.
  • For the streaming node, one need also: mbientlab.metawear package

Utilisation

Command to launch the node: rosrun cellulo_pointing_ros cellulo_pointing.py _robots_MAC:=00_06_66_E7_8E_6B 00_06_66_E7_8E_6A _address_imu_r=E5:4D:16:18:CD:90 _robot_nbr:=2 _user_name:=Lucas

The last parameter is optionnal and can be used to retrieve morphologicals parameter's for different user saved earlier. Please find details of the implementations in the pdf in the folder.

Command to launch the streaming node: rosrun cellulo_pointing_ros ros_metawear_simple.py _address:=E5:4D:16:18:CD:90

_address is the MAC address of the IMU.

In the launch folder there is a ros launch file example. It start 3 cellulo nodes and the pointing node.

Human model:

Two different libraries where used to extract the skeleton of the user: openpose and pifpaf. Then "HumanParam/GetHumanParam.py" translates the keypoints obtained in values for the human model and save it in a json file.

It subscribes to:

  • /metawear_ros_E5_4D_16_18_CD_90/rotation: gives orientation of IMU (quaternion).
  • /tf (paper_frame): gives robot's position in its paper frame.

It publishes to:

  • /cellulo_node_00_06_66_E7_8E_6B/setGoalPosition: send destination to robot.
  • /cellulo_node_00_06_66_E7_8E_6B/clearTracking: stop the robot.
  • /cellulo_node_00_06_66_E7_8E_6B/setVisualEffect: change color of the robot's led.

Reference

@inproceedings{gromov2018robot, author = {Gromov, Boris and Gambardella, Luca and Giusti, Alessandro}, title = {Robot Identification and Localization with Pointing Gestures}, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2018}, pages = {3921-3928}, keywords = {Robot sensing systems;Robot kinematics;Solid modeling;Manipulators;Drones;Three-dimensional displays}, doi = {10.1109/IROS.2018.8594174}, issn = {2153-0866}, month = oct, video = {https://youtu.be/VaQ3aZBf_uE}, }