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    xiaoqiang tutorial (11) kinect follow package turtlebot_follower

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    • weijiz
      weijiz last edited by weijiz

      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

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