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项目作者： DiveIntoMachineLearningSUSTech

项目描述 ：
智障机器人
高级语言： Python
项目地址: git://github.com/DiveIntoMachineLearningSUSTech/IntelligentRobotProject.git


Intelligent Robot Final Project

2018.1.4

Main Idea

Control our robot with gesture recognition.

  • Open CV
  • ROS Topic
  • Multithread/Multiprocess
  • Combine Opencv, ROS(CPP), Linux Bash Shell together with Python.

Open CV Core Code

  1. def reset():
  2.     global status
  3.     print 'reset before'
  4.     time.sleep(5.5)
  5.     print 'reset after'
  6.     status = 0
  1. if status == 0:
  2.     if fingers == 2:
  3.         p = subprocess.Popen('rosrun turtle_move line', stdout=subprocess.PIPE, shell=True)
  4.         print 'line'
  5.         thread.start_new_thread(reset, ())
  6.     elif fingers == 1:
  7.         p = subprocess.Popen('rosrun turtle_move circle', stdout=subprocess.PIPE, shell=True)
  8.         print 'circle'
  9.         thread.start_new_thread(reset, ())
  10.     else:
  11.         p = subprocess.Popen('rosrun turtle_move move_turtle_goforward', stdout=subprocess.PIPE, shell=True)
  12.         print 'goforward'
  13.         thread.start_new_thread(reset_forward, ())

ROS Package

  1. while (ros::ok())
  2.   {
  3.     time_t current = time(NULL);
  4.     if (current - start > 5.0f)
  5.       break;
  6.     speed.linear.x = 0.1; // 设置线速度为0.1m/s，正为前进，负为后退
  7.     speed.angular.z = vel_rad; // 设置角速度为0rad/s，正为左转，负为右转
  8.     cmdVelPub.publish(speed); // 将刚才设置的指令发送给机器人
  9.     loopRate.sleep();//休眠直到一个频率周期的时间
  10.   }

Gesture Recognition

Usage:

  1. export ROS_MASTER_URI=http://hostip:11311
  2. export ROS_IP=`hostname -I`
  3. catkin_make
  4. source devel/setup.bash
  5. python recongnize.py

Our Source Code: