Demo Anis

Publish the robot in ROS

The joints of the robot should be published in /joint_states. If no robot_publisher is running, just use this launch file:

roslaunch lwr_utils lwr.launch load_table:=true load_base:=true load_handle:=true

Run the Kinects

On kuka-demo@kuka-viz2 (mdp: kukademo)

Here you will run the Kinect v2 placed on the wall called kinectV2.

Use mux kinectV2_processing and all the necessary things to run should appear right in front of you. Just run all of them in any order.

If not here is the list of what you need to run:

roslaunch kinects_human_tracking kinectV2.launch publish_tf:=true base_name:=kinectV2
roslaunch kinects_human_tracking kinectV2_extrinsics.launch
roslaunch kinects_human_tracking kinect_img_bg_store_kinectV2.launch kinect_name:=kinectV2
roslaunch kinects_human_tracking kinect_img_bg_sub_kinectV2.launch kinect_name:=kinectV2
roslaunch realtime_urdf_filter filter_kinectV2.launch kinect_name:=kinectV2
roslaunch realtime_urdf_filter create_pc_kinectV2.launch kinect_name:=kinectV2

On kukademo@kuka-viz (mdp: kukademo)

Here you will run the Xtions.

The one in the corner of the robot’s cage is kinect1. The second in the ceiling is kinect2

Like on kuka-viz2 you can use mux:

mux kinect1_processing
mux kinect2_processing

Which is equivalent to

roslaunch kinects_human_tracking kinect1.launch
roslaunch kinects_human_tracking kinect1_extrinsics.launch
roslaunch kinects_human_tracking kinect_img_bg_store.launch kinect_name:=kinect1
roslaunch kinects_human_tracking kinect_img_bg_sub.launch kinect_name:=kinect1
roslaunch realtime_urdf_filter filter.launch kinect_name:=kinect1
roslaunch realtime_urdf_filter create_pc.launch kinect_name:=kinect1

Run the tracking

On kuka-viz or kuka-viz2

Last step is to merge the kinects and run tracking mux kinect_tracking

Just fill in topic_name1 for using only one Kinect. Fill in topic_name2 and topic_name3 if you want to merge 2 or 3 kinects

It is equivalent to:

roslaunch kinects_human_tracking kinect_merge.launch  topic_name1:=/kinectV2/depth_registered/downsampled_filtered_points topic_name2:=/kinect1/depth_registered/downsampled_filtered_points topic_name3:=/kinect2/depth_registered/downsampled_filtered_points
roslaunch kinects_human_tracking closest_pt_tracking.launch