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follow a person using openni_tracker

asked 2016-11-19 10:39:51 -0500

PinoPatatino gravatar image

Hi guys, I have openni_tracker working and I would try to make my pioneer follow the detected user. My idea was to use the tf data give by openni_tracker but I don't how to use them to make the robot moving. Do you guys have any idea? Thanks

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answered 2016-11-21 07:53:00 -0500

FrankYou gravatar image

Maybe you can get the coordinates(relative to the sensor) of the detected user by utilizing the transform from openni_depth_frame to skeleton point like head_1, left_hand_1 and so on. Depending on the coordinates, you can get the distance from the user to the robot through the X coordinate and whether the robot is on the left or the right of the user through the Y coordinate. Then you can make the robot move right or left or faster according to the above info.

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Asked: 2016-11-19 10:39:51 -0500

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Last updated: Nov 21 '16