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Using Kinect to control the motion of the turtlebot based on body movements

asked 2013-02-14 12:27:54 -0600

Maverick gravatar image

updated 2014-01-28 17:15:15 -0600

ngrennan gravatar image


I'm new to ROS and Gazebo. I am working on a project to get the turtlebot to move around based on the movement of the arms as detected by the kinect. How do i go about this process. How do i assign the turtle bot navigation depending on the movement of the arm.

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answered 2013-02-14 20:12:32 -0600

prasanna.kumar gravatar image

Hi, I have been working on exactly what you are asking for a while. Its here. I programmed it for the static gestures made by right hand (simply for different angles made b/w the arm and forearm). I made a map of a house, found a key point for each of the rooms and associated a gesture to a key point. So, when you stand in front of the turtlebot and strike a gesture, it goes to the room which is associated to the gesture. read_user_pose.cpp extracts the gestures, the key points in the map are stored in goalpoints.inputfile and navigation code is key_based_nav.cpp. Sorry, the stack is quite old and has few bugs, you cannot use the code directly. I will be uploading the refined version in GIT shortly. But I am sure that will help you.

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Cool! I would love to see this program as an app for turtlebot! What about adding it to turtlebot_apps, once you are done updating the code?

bit-pirate gravatar image bit-pirate  ( 2013-02-17 12:43:33 -0600 )edit

That's an idea! Thanks ;-)

prasanna.kumar gravatar image prasanna.kumar  ( 2013-02-17 13:13:37 -0600 )edit

answered 2013-02-14 18:53:13 -0600

Zee-Q gravatar image


First of all check out the samples available in kinnect OpenNi library. It has something related to Arm pose detection. After determining the pose of arm through kinnect dig into the turtle bot teleop code and see how it is working pass your own driving commands to that code. I hope it will work out.

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Asked: 2013-02-14 12:27:54 -0600

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Last updated: Feb 14 '13