Only released in EOL distros:

reem_teleop: joint_position_controller | motion_adaption | reem_teleop_coordinator | tree_kinematics

Package Links

Dependencies (7)

Package Summary

Motion retargeting packages for teleoperating REEM.

Author: Maintained by Marcus Liebhardt
License: Modified BSD, LGPL
Source: git https://github.com/pal-robotics/reem_teleop.git (branch: master)

reem_teleop: joint_position_controller | motion_adaption | reem_teleop_coordinator | tree_kinematics

Package Links

Dependencies (5)

Package Summary

Catkin metapackage for reem_teleop

Maintainer: Marcus Liebhardt <marcus.liebhardt AT yujinrobot DOT com>, Adolfo Rodríguez Tsouroukdissian <adolfo.rodriguez AT pal-robotics DOT com>
Author: Marcus Liebhardt <marcus.liebhardt AT yujinrobot DOT com>, Adolfo Rodríguez Tsouroukdissian <adolfo.rodriguez AT pal-robotics DOT com>, Hilario Tome <hilario.tome AT pal-robotics DOT com>
License: BSD, LPGLv2.1
Source: git https://github.com/pal-robotics/reem_teleop.git (branch: groovy-devel)

New in diamondback

Overview

Motion retargeting is the process of mapping motions between different kinematic structures. This stack implements a simple, yet effective motion retargeting method that is used in the context of a unilateral teleoperation system for transferring upper body motions from a human operator to a robot in an online fashion.

The operator's motion is captured using a Kinect device. In order to capture as much of the original motion's expressiveness as possible, we are making use of multiple end-effectors, which are currently the wrists, elbows, torso and head (caveat: the openni_tracker does not capture head/wrist orientation). Then, we adapt the captured motion to the robot's kinematic structure, which can differ significantly in terms of number of degrees of freedom and body proportions. Finally, an inverse kinematics computation produces a joint space reference for the robot to follow. This reference takes into account technological and geometric constraints like joint position and velocity limits, as well as self-collisions.

Installation

Show EOL distros:

ROS
- ROS Electric full desktop:
  - sudo apt-get install ros-electric-desktop-full
- Arm navigation stack:
  - sudo apt-get install ros-electric-arm-navigation
  - sudo apt-get install ros-electric-arm-navigation-experimental
- OpenNI Kinect stack:
  - sudo apt-get install ros-electric-openni-kinect
reem_teleop
- We need to get not only the source for this stack, but also the REEM model, and the packages to overlay. A rosinstall file is provided to automate this step. It can be found here.
- The following is an example of a rosinstall invocation that downloads the code to ~/workspace and preserves the default ros electric setup:
```
rosinstall ~/workspace /opt/ros/electric https://raw.github.com/pal-robotics/pal-ros-pkg/electric/motion_retargetting.rosinstall
```

ROS
- ROS Electric full desktop:
  - sudo apt-get install ros-fuerte-desktop-full
- Arm navigation stack:
  - sudo apt-get install ros-fuerte-arm-navigation
  - sudo apt-get install ros-fuerte-arm-navigation-experimental
- OpenNI Kinect stack:
  - sudo apt-get install ros-fuerte-openni-kinect
reem_teleop
- We need to get not only the source for this stack, but also the REEM model, and the packages to overlay. A rosinstall file is provided to automate this step. It can be found here.
- The following is an example of a rosinstall invocation that downloads the code to ~/workspace and preserves the default ROS Fuerte setup:
```
rosinstall ~/workspace /opt/ros/fuerte https://raw.github.com/pal-robotics/pal-ros-pkg/fuerte/motion_retargetting.rosinstall
```

Support for Groovy is on its way.

Tutorials/Examples

The tutorials page contains a tutorial for testing the pipeline using your Kinect or a provided bag file of an example captured operator motion.

Documentation

See individual packages for details.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]