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sciurus17_examples

This package includes examples to control Sciurus17 using sciurus17_ros.

How to launch Sciurus17 base packages

1. Connect cables of a head camera, a chest camera and a control board to a PC.
2. Power on the Sciurus17 and the camera device names are shown in the /dev directory.
3. Open terminal and launch sciurus17_bringup.launch of sciurus17_bringup package.

This launch file has arguments:

• use_rviz (default: true)
  
• use_head_camera (default: true)
  
• use_chest_camera (default: true)
  

Using virtual Sciurus17

To launch Sciurus17 base packages without Sciurus17 hardware, unplug the control board's cable from the PC, then launch nodes with the following command:

roslaunch sciurus17_bringup sciurus17_bringup.launch

Using real Sciurus17

Launch the base packages with the following command:

roslaunch sciurus17_bringup sciurus17_bringup.launch

Using without cameras

Launch the base packages with arguments:

roslaunch sciurus17_bringup sciurus17_bringup.launch use_head_camera:=false use_chest_camera:=false

Using without RViz

To reduce the CPU load of the PC, launch the base packages with arguments:

roslaunch sciurus17_bringup sciurus17_bringup.launch use_rviz:=false

Using Gazebo simulator

Launch the packages with the following command:

roslaunch sciurus17_gazebo sciurus17_with_table.launch

# without RViz
roslaunch sciurus17_gazebo sciurus17_with_table.launch use_rviz:=false

Run Examples

Following examples will be executable after launch Sciurus17 base packages.

• gripper_action_example
• neck_joint_trajectory_example
• waist_joint_trajectory_example
• pick_and_place_demo
• hand_position_publisher
• head_camera_tracking
• chest_camera_tracking
• depth_camera_tracking
• preset_pid_gain_example
• box_stacking_example

gripper_action_example

This is an example to open/close the grippers of the two arms.

Run a node with the following command:

rosrun sciurus17_examples gripper_action_example.py

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neck_joint_trajectory_example

This is an example to change angles of the neck.

Run a node with the following command:

rosrun sciurus17_examples neck_joint_trajectory_example.py

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waist_joint_trajectory_example

This is an example to change angles of the waist.

Run a node with the following command:

rosrun sciurus17_examples waist_joint_trajectory_example.py

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pick_and_place_demo

This is an example to pick and place a small object with right hand while turning the waist.

Run a node with the following command:

rosrun sciurus17_examples pick_and_place_right_arm_demo.py

This is an example to pick and place a small object with left hand.

Run a node with the following command:

rosrun sciurus17_examples pick_and_place_left_arm_demo.py

This is an example to pick and place a small object with both hands.

Run a node with the following command:

rosrun sciurus17_examples pick_and_place_two_arm_demo.py

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hand_position_publisher

This is an example to receive link positions from tf server.

This example receives transformed positions l_link7 and r_link7 based on base_link from tf server, then publishes these positions as topics named /sciurus17/hand_pos/left and /sciurus17/hand_pos/right.

Run a node with the following command:

rosrun sciurus17_examples hand_position_publisher_example.py

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head_camera_tracking

This is an example to use the head camera images and OpenCV library for ball tracking and face tracking.

Run a node with the following command:

rosrun sciurus17_examples head_camera_tracking.py

For ball tracking

Edit ./scripts/head_camera_tracking.py as follows:

def _image_callback(self, ros_image):
    # ...

        # Detect an object (specific color or face)
        output_image = self._detect_orange_object(input_image)
        # output_image = self._detect_blue_object(input_image)
        # output_image = self._detect_face(input_image)

For face tracking

Edit ./scripts/head_camera_tracking.py as follows:

This example uses Cascade Classifier for face tracking.

Please edit the directories of cascade files in the script file. USER_NAME depends on user environments.

class ObjectTracker:
    def __init__(self):
        # ...

        # Load cascade files
        # Example:
        # self._face_cascade = cv2.CascadeClassifier("/home/USER_NAME/.local/lib/python2.7/site-packages/cv2/data/haarcascade_frontalface_alt2.xml")
        # self._eyes_cascade = cv2.CascadeClassifier("/home/USER_NAME/.local/lib/python2.7/site-packages/cv2/data/haarcascade_eye.xml")
        self._face_cascade = cv2.CascadeClassifier("/home/USER_NAME/.local/lib/python2.7/site-packages/cv2/data/haarcascade_frontalface_alt2.xml")
        self._eyes_cascade = cv2.CascadeClassifier("/home/USER_NAME/.local/lib/python2.7/site-packages/cv2/data/haarcascade_eye.xml")

def _image_callback(self, ros_image):
    # ...

        # Detect an object (specific color or face)
        # output_image = self._detect_orange_object(input_image)
        # output_image = self._detect_blue_object(input_image)
        output_image = self._detect_face(input_image)

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chest_camera_tracking

This is an example to use the chest camera images and OpenCV library for ball tracking.

Run a node with the following command:

rosrun sciurus17_examples chest_camera_tracking.py

Execute face tracking and ball tracking simultaneously

Launch nodes with the following commands for face tracking with the head camera and for ball tracking with the chest camera.

rosrun sciurus17_examples head_camera_tracking.py

# Open another terminal
rosrun sciurus17_examples chest_camera_tracking.py

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depth_camera_tracking

This is an example to use the depth camera on the head for object tracking.

Run a node with the following command:

rosrun sciurus17_examples depth_camera_tracking.py

The default detection range is separated into four stages.

To change the detection range, edit ./scripts/depth_camera_tracking.py as the followings:

    def _detect_object(self, input_depth_image):
        # Limitation of object size
        MIN_OBJECT_SIZE = 10000 # px * px
        MAX_OBJECT_SIZE = 80000 # px * px

        # The detection range is separated into four stages.
        # Unit: mm
        DETECTION_DEPTH = [
                (500, 700),
                (600, 800),
                (700, 900),
                (800, 1000)]

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preset_pid_gain_example

This is an example to change PID gains of the servo motors in bulk using preset_reconfigure of sciurus17_control.

Lists of PID gain preset values can be edited in sciurus17_control/scripts/preset_reconfigure.py.

Launch nodes preset_reconfigure.py and preset_pid_gain_example.py with the following command:

roslaunch sciurus17_examples preset_pid_gain_example.launch

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box_stacking_example

This is an example to detect boxes via PointCloudLibrary and stack the boxes.

Launch nodes with the following command:

roslaunch sciurus17_examples box_stacking_example.launch

To visualize the result of box detection, please add /sciurus17/example/markers of visualization_msgs/MarkerArray in Rviz.

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