Robot Following Demo

This is a kinect demo found in the mit-ros-pkg repository. For more MIT kinect demos check out the MIT Kinect Demos page.

How to Run this Demo

Physical Setup

You need to have a Create with a Kinect and a laptop on top. Willow Garage has instructions for mounting the Kinect onto an iRobot Create. Too difficult, you say? You could always order one from the Bilibot project! Or you can use this program for any robot that is commanded by a geometry_msgs::Twist message.

Installation

1. Like all MIT kinect demos, you must first perform the General Installation

2. Once your environment is setup, run:

    rosmake skeletal_tracker

Execution

With the bilibot/ create-kinect-laptop combo fully plugged in:

• roslaunch skeletal_tracker follower.launch

Development Info

Nodes Involved

• openni_camera/openni_node

• skeletal_tracker/tracker

• skeletal_tracker/faceme.py

Dependencies

• ni
• pcl
• skeletal_tracker