KameRider_GPSR

The whole workspace for Team KameRider HouseKeeper General Purpose Service Robot(GPSR) Task

Prerequirements

darknet_ros package

https://github.com/leggedrobotics/darknet_ros.git
Code for ROS by example part 1

https://github.com/pirobot/rbx1.git
Turtlebot Arm packages

https://github.com/turtlebot/turtlebot_arm.git
CMU OpenPose (Python Wrapper)

https://github.com/CMU-Perceptual-Computing-Lab/openpose.git

(Recommand to add build options manually when build the pybind11 to choose the python2.7, because ROS does not support Python3...)

Recommand!!!

Maunally compile the openpose to set the Python Interpreter version==2.7.14(default python2)

Because ROS isn't compatible with Python3!!!

Using compile command as listed:

(1) compile pybind11(serve as the bridge between c++ codes and python codes, CMU use this to deploy the python api of OpenPose)
```
  ```
  cd $(find openpose)/3rdparty/pybind11

  mkdir build && cd build

  cmake -D PYBIND11_PYTHON_VERSION=2.7 -D PYTHON_EXECUTABLE=/usr/bin/python2.7 -D PYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython2.7m.so ..

  make -j`nproc`
  ```   
```
(2) compile OpenPose
```
  ```
  cd $(find openpose)

  mkdir build && cd build

  cmake -D BUILD_CAFFE=ON -D BUILD_PYTHON=ON -D PYBIND11_PYTHON_VERSION=2.7 -D PYTHON_EXECUTABLE=/usr/bin/python2.7 -D PYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython2.7m.so ..
  
  make -j`nproc`
  ```
```

PocketSphinx (Python module) & pyaudio

sudo apt-get install libsound-dev swig python-pyaudio ros-kinetic-sound-play

pip install pyaudio pocketsphinx

git clone https://github.com/Pankaj-Baranwal/pocketsphinx

Turtlebot Description & Hardware:
1. kobuki base
2. kinect/hokuyo
3. astra
  
  sudo apt-get install ros-kinetic-astra-launch ros-kinetic-astra-camera
  
  unzip the OpenNI-Linux-x64-2.3 package
```
cd OpenNI-Linux-x64-2.3
sudo chmod a+x install.sh
sudo ./install.sh
```
  then installing the libuvc
```
git clone https://github.com/ktossell/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install
```
  astra_launch/astra.launch needs to be modified
  
  replace the default value of arg "camera" with "astra" to aviod two nodelet with the same name
4. turtlebot_arm
  
  needs to update the turtlebot urdf files
  
  After installing the rocon/kobuki/turtlebot packages
  
  Replace the $(find turtlebot_description)/urdf/sensors/astra.urdf.xacro $(find turtlebot_description)/robots/kobuki_hexagons_kinect.urdf.xacro with the modified files
  
  Add the hokuyo description file to $(find turtlebot_description)/urdf/sensors if necessary
  
  Replace the $(find turtlebot_arm_description)/urdf/turtlebot_arm.urdf.xacro with the modified file
  
  put the hokuyo.dae file into $(find turtlebot_description)/meshes/sensors
5. mic & speaker

Workspaces Arrangement

Dividing the whole task into Five parts: Image Processing, Navigation, Speech Recognition & Human Robot Interaction(HRI), Arm Manipulation and Task Control Part

And I establish five packages for these five parts respectively, each package contains two ROS packages, one of them is CORE package, and the other is MESSAGE package. CORE package contains all nodes of its part, and the MESSAGE package contains the customized message files on which its part depends.

My essential idea is to seperate the General Packages and Task-Driven Packages and put them into two different ROS workspaces respectively. Consequently, We only need to replace the Task-Driven workspace when we switch to another task. ALL the General Packages like i mentioned in the Prerequirements Part will be put into a General ROS Workspace.

HilbertXu/KameRider_GPSR

KameRider_GPSR

Prerequirements

Workspaces Arrangement