Introduction

Uses camera and 2D lidar to follow a person and follow gestures.

Installation

• Install ROS Melodic
• Install Openpose (make sure to build for python2 and download coco)

On Corobot

sudo apt-get install python-rosdep python-catkin-tools
mkdir -p corobot_ws/src
cd corobot_ws
catkin init
git clone [email protected]:nikhil-pandey/corobots-melodic.git src
git submodule update
rosdep update
rosdep install --from-paths src -i
catkin build
source devel/setup.bash
sudo usermod -a -G dialout $USER
roslaunch corobot_bringup robot_base.launch

On GPU machine

export COROBOT_IP=<robot_ip_address>
export ROS_MASTER_URL=http://COROBOT_IP:11311
sudo apt-get install python-rosdep python-catkin-tools
mkdir -p corobot_ws/src
cd corobot_ws
git clone [email protected]:nikhil-pandey/corobots-melodic.git src
git submodule update
catkin build
source devel/setup.bash
roslaunch corobot_bringup gpu.launch