| Its Important You go through the Thesis Report very well! |
| To Understand following Commands |
| Every thing is explained very well in Thesis Report ;-) |
Master Thesis Report : Click Here : University of Stuttgart Webpage
Master Thesis Implementation Video Guide : Click Here : Youtube Link
Openpose work is pushed to Docker Hub in Docker Image form : https://hub.docker.com/r/vin8/openpose_vin
NOTE : IP addresses might change, please check them!
IP address of Butler BOT : 129.69.207.64
IP address of Local HOST : 129.69.207.127
localhost@shell:~$ adb connect 129.69.207.64
localhost@shell:~$ adb disconnect 129.69.207.64
ButtlerBot@shell:~$ adb shell
ButtlerBot@shell:~$ su
ButtlerBot@shell:~$ setprop ctl.stop tb-node
Already Docker Container is available, just RUN it.
ButtlerBot@shell:~$ docker start container_name
ButtlerBot@shell:~$ docker attach container_name
ButtlerBot_docker@shell:~# rostopic list
Open new Terminal on Local System : Important to connect to the ROS Master from Multiple Machines.
localhost@shell:~$ export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
Check on Local system, are you able to get the ROS topics from Robot, if Yes then you have succesfully established the communication with Robot throught your Local System.
localhost@shell:~$ rostopic list
localhost@shell:~$ timedatectl
ButtlerBot_docker@shell:~# timedatectl
Synchronize the Time between Robot Machine and Local System Machine. First use the below command to bring both system in same time zone.
@shell:~$ sudo dpkg-reconfigure tzdata
ButtlerBot_docker@shell:~# sudo /etc/init.d/chrony restart
ButtlerBot_docker@shell:~# sudo initctl restart chrony
ButtlerBot_docker@shell:~# sudo systemctl enable chrony
localhost@shell:~$ sudo systemctl restart chrony
localhost@shell:~$ sudo systemctl status chrony
localhost@shell:~$ sudo systemctl enable chrony
Open new Terminal on Local System : Important to connect to the ROS Master from Multiple Machines.
localhost@shell:~$ export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
localhost@shell:~$ roslaunch ohmni_2dnav ohmni_nav.launch
New Terminal to RUN ROS Visualization.
localhost@shell:~$ export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
localhost@shell:~$ rosrun rviz rviz -d /home/user_name/path_to_RVIZ_file/SLAM_ws/src/ohmni_2dnav/src/config/rvizconfig.rviz
OPENPOSE.
localhost@shell:~$ sudo xhost +si:localuser:root
localhost@shell:~$ docker run --gpus all -e DISPLAY=$DISPLAY --env NVIDIA_VISIBLE_DEVICES=all --env NVIDIA_DRIVER_CAPABILITIES=all --env DISPLAY --env QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev --net=host --privileged --device=/dev/video0:/dev/video0 -it vin8/openpose_vin:final /bin/bash
Once Docker Image instance is created, just work around with that Docker Container.
localhost@shell:~$ docker start openpose_container_name; docker attach openpose_container_name
inside container.
openpose_docker@shell:~# export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
openpose_docker@shell:~# roslaunch ros_openpose run.launch
Open New Terminal to RUN ROS node for setting the Goal through Gesture recognization.
localhost@shell:~$ docker exec -it openpose_container_name /bin/bash
openpose_docker@shell:~# export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
openpose_docker@shell:~# rosrun ros_openpose set_goal.py
New Terminal to RUN ROS node for Gesture-based Navigation.
localhost@shell:~$ export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
localhost@shell:~$ rosrun ohmni_2dnav gesture_goal_nav.py
OPENPOSE
localhost@shell:~$ sudo xhost +si:localuser:root
Once Docker Image instance is created, just work around with that Docker Container.
localhost@shell:~$ docker start openpose_container_name; docker attach openpose_container_name
inside container
openpose_docker@shell:~# export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
openpose_docker@shell:~# roslaunch ros_openpose run.launch
Open New Terminal to RUN ROS node for controlling the Robot via Gestures.
localhost@shell:~$ docker exec -it openpose_container_name /bin/bash
openpose_docker@shell:~# export ROS_IP=129.69.207.127; export ROS_MASTER_URI=http://129.69.207.64:11311
openpose_docker@shell:~# rosrun ros_openpose gesture_ctrl.py
