wall-e

An ongoing project in Embodied and Situated Language Processing. (The course webpage)

Requirements

• ROS with catkin (We have tested this package on Ubuntu 12.04 with ROS-groovy)
• freenect_stack

Installation

First, you need to create a workspace, if you have a workspace you can go to src folder and skip this part:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

Then, you can download the package, and compile it:

git clone https://github.com/mmehdig/wall-e.git walle

If you don't have kinect_aux, you can download it here. First you should have required packages:

sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev
git clone https://github.com/muhrix/kinect_aux.git

cd ..
catkin_make

Now make sure that environment is ready for rosrun

 source devel/setup.bash 

Run

First, you need to run freenect in one terminal:

roslaunch freenect_launch freenect.launch

Then, in another terminal:

rosrun walle roi_detect.py

To adjust Kinect head by moving the motor:

First, run the kinect_aux:

rosrun kinect_aux kinect_aux_node

Then:

rosrun walle kinect_adjust.py