ROS交流群
ROS Group
产品服务
Product Service
开源代码库
Github
官网
Official website
技术交流
Technological exchanges
激光雷达
LIDAR
ROS教程
ROS Tourials
深度学习
Deep Learning
机器视觉
Computer Vision

xiaoqiang tutorial (11) kinect follow package turtlebot_follower



  • Xiaoqiang Homepage

    kinect follow package turtlebot_follower

    turtlebot_follower uses the point cloud image feed back by the depth camera to calculate the coordinates of the point cloud in a certain area as the target following point, and controls the platform movement to achieve the following function according to this coordinate and the set safety distance.

    After Xiaoqiang identifies the human legs, a red ball is set as the target point in the human leg position, demo video 1

    0_1536824128652_27635399-bf0c-45b2-a8a3-22913d7e36e7-image.png

    1.Install the package

    After ssh logs in to the host, enter the ros workspace, download and install the test package

    ssh xiaoqiang@192.168.xxx.xxx
    cd Documents/ros/src/
    git clone https://github.com/turtlebot/turtlebot_msgs.git
    git clone https://github.com/BlueWhaleRobot/turtlebot_apps.git
    cd ..
    catkin_make
    

    2.Ensure that Xiaoqiang is 2 meters * 2 meters in front of the open space without debris, first check the kinect angle is horizontal, if not in the horizontal state, please turn off the platform power, start the turtlebot_follower package on the Xiaoqiang host

    ssh xiaoqiang@192.168.xxx.xxx
    roslaunch turtlebot_follower xiaoqiangfollower.launch
    

    The following figure will appear after normal startup

    0_1536824275953_ee2d90ab-29c9-4e7f-8c76-b230ccb38771-image.png

    1. At this point, someone enters Xiaoqiang’s front view and activates Xiaoqiang’s follow function. Xiaoqiang starts to move with the person’s movement.

    0_1536824299842_f414b732-7e32-4a78-b6b1-8209f6e4ca2d-image.png

    Modify the parameters in the /home/xiaoqiang/Documents/ros/src/turtlebot_apps/turtlebot_follower/launch/freenect.launch file on the Xiaoqiang host, similar to the following figure. Then you can control the following performance

    0_1536824390318_d406bb1c-e333-4031-9ce3-af888d7dc9d9-image.png

    Xiaoqiang Homepage
    Back To Index