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Testing the teleoperation pipeline

Description: A tutorial about how to set up and use the teleoperation pipeline with REEM. The pipeline can be tested using a Kinect or a provided bag file containing an example captured operator motion.

Keywords: teleoperation, Kinect, REEM

Tutorial Level: BEGINNER

Overview

This tutorial shows how you can test the teleoperation pipeline with a simulation of REEM in Gazebo. Instructions are given for the use of your own Kinect or the provided bag file, which you can find in the reem_teleop stack.

Prerequisites

Considering the teleoperation pipeline, make sure that you have installed all necessary packages following the installation instructions.

If using an actual Kinect, make sure that

  1. you have a Kinect device plugged in to your machine,
  2. the openni_kinect stack is installed and

  3. the openni_tracker is working properly on your machine.

Otherwise, you can use this example of a captured operator motion: captured operator motion example

Launching and using the pipeline

  • 1.a For testing the pipeline without a Kinect execute the following command:
    roslaunch reem_teleop_coordinator start_teleop_pipeline_gazebo_without_kinect.launch
    1.b For testing the pipeline with your own Kinect execute the following command:
    roslaunch reem_teleop_coordinator start_teleop_pipeline_gazebo.launch
    You will find that rviz and gazebo show up. You can maximize rviz, as here is where all the info will be displayed.

reem_teleop/psi_pose.png

  • 2.a. Navigate to the reem_teleop stack and play the bag file.
    roscd reem_teleop
    rosbag play example_captured_operator_motion.bag
    2.b. When using the Kinect, place yourself in front of the Kinect and calibrate by adopting the Psi pose. Once calibrated, a skeleton will show up, as well as a set of reference frames around the robot.

    Enjoy! :-)

Wiki: reem_teleop/Tutorials/Testing the teleoperation pipeline (last edited 2011-12-07 00:21:37 by MarcusLiebhardt)