saserrano/module_gd

Gesture Detection Basic Module

This is the ROS package of the Gesture Detection Basic Module. This module is in charge of recognizing non-verbal forms of language that people might use to complement their spoken commands to a robot.

Installation

Create a conda environment using the requirments file gesture_det_env.yml and the following command: conda env create -f gesture_det_env.yml

Running the Module

Before running the module, make sure you first activate the conda environment: conda activate gesture_det_env

To run the module in ROS Melodic and later versions use the following command: roslaunch module_gd bm.launch

To run it in ROS Hydro, depending on the sensor configuration you wish to use, there are three options:

• Orbbec Astra RGBD sensor: roslaunch module_gd orbbec_roshydro.launch
• Kinect-Azure RGBD sensor (FOV narrow mode): roslaunch module_gd kinect_narrow_roshydro.launch
• Kinect-Azure RGBD sensor (FOV wide mode): roslaunch module_gd kinect_wide_roshydro.launch

Future Tasks

• Further Testing: Test it using the kinect-azure sensor (so far it has only been tested with the orbbec sensor).
• Joints 3D Enhancement: Stability of the joints' x-y-z coordinates ectraxtion should be improved.
• Add time-out: Add time-out feature for the detection of gestures. In this was the robot will not try forever to detect the requested gesture.
• Add Gestures/Postures: So far the module only recognizes where the person is pointing at with both of its hands. Being able to recognize other gestures/postures (e.g. being sitted, layed at a sofa, raising the hand, saluting, etc.) would be a great improvement.