RobotProject2018

Robot project for GPGPU2018

1. Webpage for detailed description:

https://a9451406.wixsite.com/gpgpurobotproject

2. Installation:

(1) Please install ROS, tf-openpose, YOLOv3 first.

(2) Create a workspace for ROS named as catkin_ws/ and also create a package named robot_project.

(3) Grab main_controller.py, get_obj.py, voice_reg.py to robot_project/script; ObjPose.msg and ObjPoseArray.msg to robot_project/msg

(4) Replace robot_project/CMakeList.txt and robot_project/package.xml with ours

(5) Grab get_action.py, broadcaster.py under tf-openpose folder

3. Execution

$ roscore

$ roslaunch darknet_ros darknet_ros.launch

$ python catkin_ws/src/robot_project/script/main_controller.py

$ python catkin_ws/src/robot_project/script/get_obj.py

$ python catkin_ws/src/robot_project/script/voice_reg.py

$ python YOUR_PATH/tf-openpose/get_action.py

$ python YOUR_PATH/tf-openpose/broadcatser_ros.py

4. Reference:

(1) ROS: http://wiki.ros.org/kinetic/Installation

(2) YOLOv3: https://github.com/leggedrobotics/darknet_ros

(3) tf-openpose: https://github.com/ildoonet/tf-pose-estimation

(4) ROS voice message (Android): https://play.google.com/store/apps/details?id=org.ros.android.android_voice_message&hl=zh_TW