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Thread: 3D Head Tracking Tutorial - Part 1

  1. #1
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    3D Head Tracking Tutorial - Part 1

    Hello ROS fans,

    I put together Part 1 of a "3D Head Tracking" tutorial using ROS and AX-12+ servos. Part 1 covers the use of the ROS tf library to point the head at different locations in space relative to different frames of reference. Part 2 (not yet written!) will cover 3D object detection using the Kinect and the ROS PCL and OpenNI libraries.

    Here's the link to Part 1:

    http://www.pirobot.org/blog/0018/

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

  2. Re: 3D Head Tracking Tutorial - Part 1

    Thanks!

  3. #3

    Re: 3D Head Tracking Tutorial - Part 1

    Hi Patrick
    Very nice tutorial my usb2dynamixel came in the post yesterday and i had it running in a few hours.
    previously i had a hard time working out reference frames but the tutorial cleared it up nicely.
    I had 1 problem compling the AX12 core (with Diamondback) it required PR2_controllers. Afterwards it worked the head pointing action was smooth. I then tried the GUI and i get the following error
    Traceback (most recent call last):
    File "/home/peter/ros/pi-robot-ros-pkg/pi_tutorials/pi_head_tracking_3d_part1/bin/head_pointer_gui.py", line 183, in <module>
    frame = PointHeadGUI(None, True)
    File "/home/peter/ros/pi-robot-ros-pkg/pi_tutorials/pi_head_tracking_3d_part1/bin/head_pointer_gui.py", line 74, in __init__
    self.update_combobox()
    File "/home/peter/ros/pi-robot-ros-pkg/pi_tutorials/pi_head_tracking_3d_part1/bin/head_pointer_gui.py", line 128, in update_combobox
    self.frameComboBox.SetItems(self.frames)
    AttributeError: 'ComboBox' object has no attribute 'SetItems'
    regards peter

  4. #4
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    Re: 3D Head Tracking Tutorial - Part 1

    Hi Peter,

    Glad to hear you got most of it working. As for the GUI errors, it may be that you need an updated version of wxWidgets. On my Ubuntu 10.04 machine, I have python-wxgtk2.8 so perhaps upgrade yours to 2.8 if its anything lower: something like this:

    $ sudo apt-get install python-wxgtk2.8 python-wxtools wx2.8-i18n libwxgtk2.8-dev libgtk2.0-dev
    --patrick
    The Pi Robot Project
    http://www.pirobot.org

  5. #5

    Re: 3D Head Tracking Tutorial - Part 1

    Hi Patrick
    I have python-wxgtk2.8 so perhaps upgrade yours to 2.8 if its anything lower
    I must have a older version on my desktop, when i transfered the head assy to the robot the GUI worked

    peter

  6. #6
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    Re: 3D Head Tracking Tutorial - Part 1

    Great! I haven't yet figured out how to place a non-ROS dependency in the manifest.xml file...

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

  7. #7

    Re: 3D Head Tracking Tutorial - Part 1

    Patrick
    How dose ROS handle linear motion? I need to make my robots head telescope 20cm up and down (to fit under a bench)
    I can do it with pullies and a motor but how do i change the frame ref for the altered height?

    peter

  8. #8
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    Re: 3D Head Tracking Tutorial - Part 1

    Hi Peter,

    I believe you would just add a "prismatic" joint to your URDF or Xacro model. Check out Section 4 called "The Gripper Arm" on the following ROS Wiki page:

    http://www.ros.org/wiki/urdf/Tutoria...%20with%20URDF

    --patrick
    Last edited by Pi Robot; 03-16-2011 at 06:22 PM.
    The Pi Robot Project
    http://www.pirobot.org

  9. #9
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    Re: 3D Head Tracking Tutorial - Part 1

    Quote Originally Posted by Pi Robot View Post
    Great! I haven't yet figured out how to place a non-ROS dependency in the manifest.xml file...

    --patrick
    Patrick, take a look at rosdep -- http://www.ros.org/wiki/rosdep

    -Fergs

  10. #10
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    Re: 3D Head Tracking Tutorial - Part 1

    Thanks Fergs, that's exactly what I needed. So I have added the following line to the manifest.xml file:
    <rosdep name="wxpython"/>

    --patrick


    The Pi Robot Project
    http://www.pirobot.org

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