ArtificialShane / motion-mapping

Pepper motion mapping

Pepper motion mapping

A ROS package to map human motion (captured using the Nuitrack skeleton tracking software) to humanoid robot Pepper.

Supports

• real-time motion mapping
• motion mapping from a recorded ros bag (topic of interest is /body_tracker/skeleton_v2).

Tested on Ubuntu 16.04 with Microsft Kinect Sensor v1. Currently does not work for Ubuntu 18.04 due to unsupported dependencies.

Installation

1. Install Nuitrack Linux Drivers

   • http://download.3divi.com/Nuitrack/doc/Installation_page.html

   Important: Make sure you remove OpenNI - it conflicts with the version supplied by Nuitrack

    sudo apt-get purge --auto-remove openni-utils
   

2. Install Nuitrack SDK:

   • http://download.3divi.com/Nuitrack/

3. Install Python NAOqi SDK:

   • http://doc.aldebaran.com/2-5/dev/community_software.html
   • http://doc.aldebaran.com/2-5/dev/python/install_guide.html#python-install-guide

4. Clone the following repo into your catkin workspace

    git clone https://gitlab.com/asblab/motion-capture.git
   

   Make sure to edit line 9 in the CMakeLists.txt file in nuitrack_body_tracker: set(NUITRACK_SDK_PATH /path/to/NuitrackSDK)

5. Install these dependencies

    sudo apt-get install ros-kinetic-pepper-.*
    pip install torch==1.4.0+cpu torchvision==0.5.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
    pip install pepper_kinematics
    pip install future
    pip install pandas
   

Using the ROS package

    roslaunch move_pepper move_pepper.launch 

Optional command line arguments:

• only_sim:=<true or false, default is true. If false, it will connect with the phyiscal Pepper robot>
• use_bag:=<happy, sad, angry, surprise, fear, disgust, default is None. If None, real time video stream will be used instead of a recorded ros bag> NOTE: make sure you have an RGBD sensor connected to your device if use_bag:=None

Additional argument changes can be made in the joint_convert.launch file:

• <arg name="<emotion>_bag_path" default="/path/to/rosbag" />
• <arg name="bag_playback_rate" default="1"/>
• <arg name="model_dir" default="$(find joint_converter)/models" />