A PR2 app designed for RoboCup@Home Follow-Me Challenge. See my demo video.
Intel Perceptual Computing SDK recognizes voice commands to initiate actions and accept controls. After start, Point Cloud Library people module reads Kinect RGB-D data to detect people, and a custom tracker tracks people's positions. Then ROS nav stack keeps following the user while avoids obstacles, until otherwise told by voice commands.
This has NOT been tested for redistribution, but hopefully it should be trivial if I have not done so.
This is designed to run with a ROS hydro chroot because it needs PCL 1.7, but PR2 is supported with ROS groovy.
This depends on a speech engine (also by me), which requires Windows VM running with QEMU/KVM. It needs rebuilt kernel support for KVM.
I used a hack in the nav stack. It works, but I don't feel it's the right way of doing it.
- Clean up by a proper ROS packaging format
- Clean up code copyright and licensing
- Add the starting script as the main entry point
- Add direction of setting up ROS hydro chroot
- Find out possible PCL patch used here
- Examine configurations and document parameter changes
- Document the VM network setup for rospcsdk
- Provide the patch of KVM kernel config
- There seems to be some bug in rospcsdk during long uptime and restarts. Need investigation.
- List dependencies; and other documentation