Stalker_Bot

Amanda Loh and Chris Nakovski

A bot that uses ROS Laser Scan data to detect legs and people.

How to Run

With Bag Files

Note that only Second.bag and Third.bag only have one person to detect in both

In one terminal: run: roscore

In another terminal: cd to stalker_bot/Stalker_Bot/src when you clone the repo then do: python leg_detector.py

In another terminal: cd to the src folder of Stalker_Bot

to play a file: put in command: rosbag play Third.bag

You can put in any bag file for the bag to run: it doesn't even have to be in this git repo: but you have to be in the folder where it is to play it

Without Bag Files

Make sure you are accessing the Turtlebot with these commands each with their own terminal: roslaunch turtlebot_bringup minimal.launch roslaunch turtlebot_bringup 3dsensor.launch

You can use rostopic echo /scan to make sure you are getting the laser scans

In another terminal: cd to stalker_bot/Stalker_Bot/src when you clone the repo then do: python leg_detector.py

Some Notes

Make sure you run the python script first before starting the bag file

RVIZ

You can also view the raw laser data from either your bag file or the turtle bot with rviz Just type "rviz" in your terminal and it should open up If not, you may need to install it.

You may not see anything on the screen so make sure: For Fixed Frame you are using base_footprint You add Laser Scan /scan Note: you won't see this topic if you don't have your robot or bag file running You can also add TF marker for where the robot is

Resource Links

https://github.com/jstnhuang/cse481c_tutorials/wiki/How-to-run-the-leg-detector-on-the-Turtlebot

http://wiki.ros.org/leg_detector

http://wiki.ros.org/ROS/Tutorials

https://github.com/wg-perception/people/tree/hydro-devel/leg_detector/src

http://people.idsia.ch/~giusti/perceivingpeople/iros2014.pdf

http://answers.ros.org/question/31366/leg_detector-and-kinect/