Speech and Person Recognition
Platform: TurtleBot3, ROS Kinetic, Ubuntu 16.04
Team Members: Ella, Hoang, Robin, Faris
The program requires some (very) small modification on TurtleBot3 Nagigation (ACML), and TurtleBot3 Application Follower packages, which you might already have in your catkin workspace.
If you want to keep the original TurtleBot3 pakages, you might want to check the modification. Otherwise, you could remove your TurtleBot3 packages and clone this repo --recursive (with the submodules):
git clone --recursive https://github.com/hoangp/cs3431-18s2-project.git
It also requires OpenPose installed on the Remote PC.
The TurtleBot3 need a Lidar and a Camera
For other installation instructions (TurtleBot3, ROS Kinetic, Ubuntu 16.04) Please refer to Robotis TurtleBot3 e-Manual
Below is the steps and command lines in our PC. It might be different in your PC.
- Run roscore
- Bringup TurtleBot3 Lidar and Camera
roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch realsense_camera r200_nodelet_default.launch- Run TurtleBot3 SLAM and Navigation
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_navigation person_recognition_navigation.launch- Run OpenPose listener
rosrun person_recognition listener- Run Follower scripts
roslaunch turtlebot3_follow_filter turtlebot3_follow_filter.launch
roslaunch turtlebot3_follower turtlebot3_follower.launch- Run our main scripts
cd scripts
python speech_cmd.py # speech recognition and send command to 'pr/cmd'
python run.py # excute command from topic 'pr/cmd'