Archie Moveit

Human-Computer Safety System, utilized Moveit motion planning software, can be used to generate online trajectories with respect to human safety in PR2's workspace, according to human's position and the movement of PR2's arm relative to human.

Install

In order to use Human-Robot Safety System, you have to install ros pakcages both on laptop side and PR2 side.

on laptop side:

Five packages are required to be installed on laptop side:

Go to src folder in catkin workspace and download required packages:

sudo apt-get install ros-groovy-rviz
sudo apt-get install ros-groovy-openni-camera
git clone git@github.com:ros-drivers/rgbd_launch.git
git clone git@github.com:ros-drivers/openni2_launch.git
git clone https://github.com/WPI-ARC/person_tracker.git
git clone https://github.com/WPI-ARC/pr2_moveit_generated.git

Go back one level and make all downloaded packages:

cd ..
catkin_make

on PR2 side:

Three packages are required to be installed on PR2 side:

Go to catkin workspace and download archie_moveit package.

git clone https://github.com/WPI-ARC/archie_moveit.git
git clone -b quan_demo https://github.com/WPI-ARC/moveit_core.git
git clone -b quan_demo https://github.com/WPI-ARC/moveit_ros.git

Go back one level and make downloaded packages:

catkin_make

Run

Run the launch file on PR2 side before running launch files on laptop side.

on PR2 side:

Run move group on PR2.

roslaunch archie_moveit move_group.launch 

on laptop side:

(1) Launch human tracker

roslaunch openni2_launch openni2.launch
rosrun person_tracker opencv_tracker
rosrun person_tracker moveit_object_sender

(2) Launch moveit motion planning interface

roslaunch pr2_moveit_generated moveit_rviz.launch