Scripts

The package contains several python scripts, mostly used as helper nodes and utility functions.

• utilities/intrinsic_calibration.py: This script implements camera intrinsic calibration with OpenCV camera calibration functions. It requires a set of pre-collected images of the standard chessboard for camera calibration.

  The script should be used with launch file "launch/calibration/camera_calibration.launch". You can pass the following arguments to the launch file:

  • n_images: number of images
  • resolution_x and resolution_y: resolution of the image
  • scaling: scaling factor (if you want to use scaled images for detection later)
  • image_path: path to the image files
  • image_ext: file format of the images, e.g. '.jpg', '.png'

• utilities/protocol_generator.py: This script can be used to generate a list of protocols. To use the script, simply run it from command line (not with rosrun). Then follow the instructions.

• fake_pose_publisher.py: This script can generate and publish human poses. The purpose is for testing the experiment state machine without real users. Currently it generates a straight line trajectory where the simulated human walks back and forth.

• robot_supervisor.py: This node implements a robot state machine that has three states:

  • Idle: robot stays still and wait for command
  • Randomly moving: robot randomly moves around
  • Teleoperated: robot can be teleoperated by keyboard

• velocity_smoother.py: This node can subscribe to commanded velocity from any controller and publish smoothed trajectory. The commanded velocity is smoothed in a way that the maximum acceleration is limited.