Hand Gesture Controlled Robot

This project aim is to controll turtlebot3 robot in gazebo using hand gestures.

Requirements

1. Install Ros From link: http://wiki.ros.org/ROS/Installation (Noetic-Version)
2. Create a catkin_ws in your home directory:

$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/tutorial_ws/src
$ cd ~/tutorial_ws
$ catkin_init_workspace src
$ catkin_make

3. Install these packages in catkin_ws

$ sudo apt-get install ros-noetic-joint-state-publisher
$ sudo apt-get install ros-noetic-joint-state-publisher-gui

4. Install Ros control in catkin_ws from link: http://wiki.ros.org/ros_control
5. Install Turtlebot3 Packages in src folder of catkin_ws : https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/

Main concepts

1. Primary concepts used for hand gesture recognition are contour,convex-hull and convexity-defects.
2. For controlling the Turtlebot3 we published velocity to turtlebot3 in gazebo using rostopic /cmd_vel

Getting Started

1. Start your Turtlebot3 simulation:

$ cd ~/catkin_ws 
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

2. Clone the code and run the code from any code editor or terminal.

Demonstration

Hand Gesture Recognition

Hand Gesture Controlled Robot