Romeo will try to keep in the center of the image the target, using a whole body control.
- Set Romeo initial pose:
$ cd /scripts$ python setRomeoHalfSittingPose.py - Launch camera node:
$ roslaunch romeo_sensors_py camera_romeo_rennes.launch - Launch Whycon tracker
$ roslaunch romeo_mc whycon_romeo.launch - Start velocity controller:
$ roslaunch visp_naoqi_ros romeo_cmd_vel.launch - Start gaze demos:
$ roslaunch romeo_mc rtc_test_gaze_task_romeo_tracker.launch tracker_type:=whycon
Romeo grasps a box using a Pose Base Visual Servoing while trying to keep in the field of view the hand and the box with a gaze control, using a whole body control.
- Set Romeo initial pose:
$ cd /scripts$ python setRomeoHalfSittingPose.py - Launch camera node:
$ roslaunch romeo_sensors_py camera_romeo_rennes.launch - Launch Whycon tracker
$ roslaunch romeo_mc whycon_romeo.launch - Start velocity controller:
$ roslaunch visp_naoqi_ros romeo_cmd_vel.launch - Start gaze demos:
$ roslaunch romeo_mc test_gaze_task_romeo_tracker.launch tracker_type:=whycon