Pan & Tilt Face Tracking in ROS

About

Do you want to do a face tracking Pan & Tilt system with ROS? This is the tutorial for you! This video will show you how to do a face tracking system using ROS and all the system we generated in the previous videos.

We will learn:

• How to integrate icog_face_tracker package in ROS
• How to use face tracking data to do a simple face tracker for a Pan &  Tilt

List of materials

• ROSject
• Git of Pan And Tilt Project
• Pan&Tilt HAT for RaspBerry Pi
• RaspBerry Pi 3B
• SD Card
• Plug with button
• Camera

Related courses & tutorials

• Course | ROS PERCEPTION in 5 days
• Video Tutorials for UbuntuMats installation and Basic setup
• Video Tutorials of Image processing in ROS

3D Models

• Orange Robot
• Sphere Robot
• Robot Parts
• Mars Lander
• Used MakeHuman for the person models

[irp posts=”13228″ name=”Pan & Tilt Gazebo Simulation”]

[Morpheus Chair] Vector ROSDS CloudConnection | T2.Ep.4

About:
In this video, you are going to learn how to connect to the real Vector ROBOT through ROSDS using the real robot connection tools. You will also use a docker created by betaB0t to connect to VECTOR.

Commands to launch the docker in your local PC:

sudo docker run -e ANKI_USER_EMAIL=(EMAIL) -e ANKI_USER_PASSWORD=(PASSWORD) -e VECTOR_IP=(VECTOR_IP) -e VECTOR_SERIAL=(VECTOR_SERIAL) -e VECTOR_NAME=(VECTOR_NAME) –network host -e ROS_IPV6=on -e ROS_HOSTNAME=(NAME_OF_YOUR_DEVICE) -e ROS_MASTER_URI=http://master:11311 –add-host master:::1 –add-host (NAME_OF_YOUR_DEVICE):::1 -it betab0t/vector-ros-driver

If you don’t know the VECTRO related values, please have a look at the first video where we connected directly to VECTOR:

———————————————————————–
ROSject with Simulation and code Plug and Play:
http://www.rosject.io/l/908ce19/

Git from BetaB0t for Vector_ROS Package:

Git for the Real Robot Connection Setup:
https://bitbucket.org/theconstructcore/rosds_real_robot_connection/src/master/

Git of Vector and Cozmo Simulation:
https://bitbucket.org/theconstructcore/cozmo_simulation/src/master/

Install SDK in ALL OS:
https://developer.anki.com/vector/docs/initial.html

VECTOR API:
https://developer.anki.com/vector/docs/api.html

———————————————————————–

Here you can find the list of materials that you will need for this session:
Vector Robot: https://www.amazon.es/Anki-000-0079-Vector/dp/B078T42JCM
Vector Robot Playing Space ( recommended to avoid any problems with flying Vectors :P): https://www.amazon.es/Anki-000-0078-Habitat-Vector-Space/dp/B07G3QSX8G

———————————————————————————
Music:
Original Track:https://youtu.be/FBv6rm1lY0w
Thanks to NewRetroWave for letting us use their music.
Here more info:

New Retro Wave + Bachelor of Hearts Aurora Borealis

Smooth vibes for you retro soul. Listen and enjoy.
OUT NOW on NRW Records:
https://newretrowave.bandcamp.com/album/a-cosmic-funk-odyssey-ep
iTunes: http://apple.co/2r6N1T7

Support:

https://www.facebook.com/BachelorOfHeartsmusic/

Artwork provided by Murryous, who is our featured artist for May. Please support him:
https://www.instagram.com/murryous/

———————————————————————————

3D Models:
Orange Robot:
https://www.blendswap.com/blends/view/77718

Sphere Robot:
https://www.blendswap.com/blends/view/80818

Robot Parts:
https://www.blendswap.com/blends/view/78357

Mars Lander:
https://www.blendswap.com/blends/view/81264

#VECTOR #COZMO #ANKI #ROS #Robot #rostutorials #simulation to real

[Morpheus Chair] Vector ROS Simulation | T2.Ep.3

.

What will you learn in this post

• Learn how to launch the Vector simulation and how to launch a Red Ball tracking node using ROS and the
  package created by BetaB0t Vector_ROS

List of resources used in this post

• The ROSject with the simulation and code Plug and Play:
  http://www.rosject.io/l/908ce19/
• A live version of this post on YouTube: https://youtu.be/z7bo1nyjhYM
• Git from BetaB0t for Vector_ROS Package: https://github.com/betab0t/vector_ros

More resources (for real robot)

• Video Of Real Robot doing the exact same thing: https://www.youtube.com/watch?v=XxaOyA-M3U4
• Git of Vector and Cozmo Simulation: https://bitbucket.org/theconstructcore/cozmo_simulation/src/master/
• Install SDK in ALL OS: https://developer.anki.com/vector/docs/initial.html
•  VECTOR API: https://developer.anki.com/vector/docs/api.html
• Setup script for Vector in Local computer:
  https://bitbucket.org/theconstructcore/morpheus_chair/src/master/vector_scripts/01_how_to_setup_vector_sdk.py
• Here you can find the list of materials that you will need for this session in case you have a real robot:
  Vector Robot: https://www.amazon.es/Anki-000-0079-Vector/dp/B078T42JCM
  Vector Robot Playing Space ( recommended to avoid any problems with flying Vectors :P): https://www.amazon.es/Anki-000-0078-Habitat-Vector-Space/dp/B07G3QSX8G

If you click in the ROSject provided above (http://www.rosject.io/l/908ce19/), you will get a copy of it on ROSDS (ROS Development Studio)

To launch it, you first need to open the ROSject clicking on the Open button.

Open Cozmo and Vector robots in ROSDS

Once the ROSject open, you just launch the simulation by clicking  Simulations–>Select Launch File, then you select  cozmo_gazebo main_cozmo.launch

Launch cozmo_gazebo main_vector.launch in ROSDS

If everything went ok, now you should have the simulation up and running:

cozmo vector running in ROSDS

You can launch cozmo and vector just by choosing between the main_vector.launch and main_cozmo.launch

roslaunch vector_ros simple_ball_tracker.launch is_simulation:=true

You should then Open the Graphical Tools from the Tools menu to see the RedBall detection Gui:

Launching Graphical Tools in ROSDS

You should then be able to see the robot camera:

redball seen by cozmo and vector in ROSDS

roslaunch cozmo_gazebo move_redball.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Reccomended values:
    turn = 5.55991731349
    speed = 0.1937102445

rosrun rqt_image_view rqt_image_view

rostopic pub /vector/lift_height/command std_msgs/Floa4 "data: -0.8"

Now, to move the head we use the commands below. Also, important to note that the range of the head is [0.1,-0.57]

Let’s then move the head:

rostopic pub /vector/head_angle/command std_msgs/Float64 "data: -0.57"

rostopic echo /imu

———————————————————————————
Music:
Original Track:https://youtu.be/FBv6rm1lY0w
Thanks to NewRetroWave for letting us use their music.
Here more info:

New Retro Wave + Bachelor of Hearts Aurora Borealis

Smooth vibes for you retro soul. Listen and enjoy.
OUT NOW on NRW Records:
https://newretrowave.bandcamp.com/album/a-cosmic-funk-odyssey-ep
iTunes: http://apple.co/2r6N1T7

Support:

https://www.facebook.com/BachelorOfHeartsmusic/

Artwork provided by Murryous, who is our featured artist for May. Please support him:
https://www.instagram.com/murryous/

———————————————————————————

3D Models:
Orange Robot:
https://www.blendswap.com/blends/view/77718

Sphere Robot:
https://www.blendswap.com/blends/view/80818

Robot Parts:
https://www.blendswap.com/blends/view/78357

Mars Lander:
https://www.blendswap.com/blends/view/81264

#Vector #COZMO #ANKI #ROS