Joint_points = self._kinect.body_joints_to_color_space(joints) # convert joint coordinates to color space Speaker.speak("User detected!", volume=1.0) # Speak to the userįor i in range(0, self._kinect.max_body_count): The Kinect body detection is a slightly modified version of this example: class BodyGameRuntime(object):
#Webots simulation speaker full
Here are the relevant parts of my code, I can provide the full code if needed.
#Webots simulation speaker how to
Even if that's the case, I don't know how to proceed. I believe this might be a synchronization issue due to Kinect and Webots having their own clocks, but I'm not sure. After I close the Kinect window, the robot speaks the message but that code should have been executed inside the Kinect code, as listed below. However, when the Kinect starts running and the window pops up, Webots clock stops ticking and the robot doesn't do anything. I have a Kinect V2 hooked up to the USB port and it can detect a person on its own by running my Python code using PyKinect2 and pygame.Īs the next step, I put that code into the Webots environment and I've added a robot to speak to the user when Kinect detects them. You can launch this simulation with the following launch file: roslaunch webots_ros complete_test.I'm trying to create a Webots simulation where I want my robot to speak when the Kinect camera detects a person. This simulation doesn't show any particular application but contains an almost exhaustive list of the services and topics available from the Webots-ROS interface. You can launch this simulation with the following launch file: roslaunch webots_ros robot_information_parser.launch It is a good base to start building your own node. This simulation is the most basic one, the node only parses the robot and show the list of devices. You can launch this simulation with the following launch file: roslaunch webots_ros catch_the_bird.launch This simulation shows how to use a range-finder device. You can launch this simulation with the following launch file: roslaunch webots_ros panoramic_view_recorder.launch
#Webots simulation speaker movie
This simulation shows how to record a movie and move the viewpoint from a node. You can launch this simulation with the following launch file: roslaunch webots_ros keyboard_teleop.launch This simulation shows how to use the keyboard to control a robot. You can launch this simulation with the following launch file: roslaunch webots_ros e_puck_line.launch This simulation shows an e-puck robot performing line-following. In addition, the simulation also includes a gmapping support: rosrun gmapping slam_gmapping scan:=/Hokuyo_URG_04LX_UG01/laser_scan _xmax:=5 _xmin:=-5 _ymax:=5 _ymin:=-5 _delta:=0.1Īnd you can control the robot using Twist commands: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm. The simulation features the MoveIt integration. You can then enable SLAM with: rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan _xmax:=30 _xmin:=-30 _ymax:=30 _ymin:=-30 _delta:=0.2Īnd move the robot using a keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel
You can launch this simulation with the following launch file: roslaunch webots_ros pioneer3at.launch
The robot is performing slam using the gmapping package, the resulting map can be seen using rviz. This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. For each simulation, the simplest solution is to use the associated launch file, but of course, if you prefer you can start Webots, open the corresponding world and then launch the node yourself.
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