adding code from different repos

README.md

@@ -1,2 +1,29 @@
-# baxter-teleoperation
-Python code to teleoperate the Baxter industrial robot using Kinect, Oculus Rift, and a web interface.
+## HRI DP2
+
+This repository contains code for Human Robot Interaction Design Project Two, 
+by Patrick Steadman, Tauhidur Rahman, and  Moumita Basuroychowdhury.
+
+##### To start teleoperation using the simulator:
+
+First, start the simulated baxter environment and enable the robot:
+
+        cd ~/ros_ws
+        . baxter.sh sim
+        roslaunch baxter_gazebo baxter_world.launch
+
+
+Second, start the kinect client in a new terminal tab:
+
+        roslaunch openni_launch openni.launch
+
+Third, start tracking in another termial tab:
+
+        roslaunch openni_tracker openni_tracker.launch
+
+Finally, enable the robot andstart teleoperation.  
+The skeleton position tracking rate and the kinect 
+user number can be specified:
+
+        rosrun baxter_tools enable_robot.py -e
+        python teleoperate.py --user 1 --rate 10 --mirrored false
+

demo_day_readme.txt

@@ -0,0 +1,45 @@
+Need to run ./baxter.sh in each new shell
+extract contents into ~/ros_ws/src/hri-dp2
+
+New terminal
+
+cd ~/ros_ws
+./baxter.sh
+roslaunch openni_launch openni.launch
+
+New terminal
+
+cd ~/ros_ws
+./baxter.sh
+roslaunch openni_tracker openni_tracker.launch
+
+New terminal
+
+cd ~/ros_ws
+./baxter.sh
+cd ~/ros_ws/src/hri-dp2
+rosrun baxter_tools enable_robot.py -e
+python teleoperate.py --user 1 --rate 10 --mirrored:=true
+
+To get presentation remotes to work, plug them into another machine and run the key remap script. The keyboard remap remaps the .(period) key, making typing commands difficult, so execute the gripper control script first, escape, remap keys, then use the up arrow to execute the gripper script again.
+Place the remap_keys.sh script in the ~/ros_ws folder on the new machine. This machine will have to be rebooted to undo the key remapping.
+
+New terminal on new machine
+
+cd ~/ros_ws/
+./baxter.sh
+rosrun baxter_examples gripper_keyboard.py
+ctrl-c
+bash remap_keys.sh
+rosrun baxter_examples gripper_keyboard.py (via up arrow in terminal)
+
+The top row corresponds to the right gripper and the bottom to the left (on both remotes).
+
+			laser_pointer 			(do not shine in observers' eyes)
+
+		right.close		right.open
+
+		left.open		left.close
+
+
+

kinect.rviz

@@ -0,0 +1,268 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /Image1
+        - /Axes1
+        - /TF1
+        - /TF1/Status1
+      Splitter Ratio: 0.543624
+    Tree Height: 376
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/rgb/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.1
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        collision_head_link_1:
+          Value: true
+        collision_head_link_2:
+          Value: true
+        display:
+          Value: true
+        dummyhead1:
+          Value: true
+        head:
+          Value: true
+        head_camera:
+          Value: true
+        left_arm_itb:
+          Value: true
+        left_arm_mount:
+          Value: true
+        left_finger:
+          Value: true
+        left_gripper:
+          Value: true
+        left_gripper_base:
+          Value: true
+        left_hand:
+          Value: true
+        left_hand_accelerometer:
+          Value: true
+        left_hand_camera:
+          Value: true
+        left_hand_camera_axis:
+          Value: true
+        left_hand_range:
+          Value: true
+        left_lower_elbow:
+          Value: true
+        left_lower_forearm:
+          Value: true
+        left_lower_shoulder:
+          Value: true
+        left_torso_itb:
+          Value: true
+        left_upper_elbow:
+          Value: true
+        left_upper_elbow_visual:
+          Value: true
+        left_upper_forearm:
+          Value: true
+        left_upper_forearm_visual:
+          Value: true
+        left_upper_shoulder:
+          Value: true
+        left_wrist:
+          Value: true
+        pedestal:
+          Value: true
+        right_arm_itb:
+          Value: true
+        right_arm_mount:
+          Value: true
+        right_finger:
+          Value: true
+        right_gripper:
+          Value: true
+        right_gripper_base:
+          Value: true
+        right_hand:
+          Value: true
+        right_hand_accelerometer:
+          Value: true
+        right_hand_camera:
+          Value: true
+        right_hand_camera_axis:
+          Value: true
+        right_hand_range:
+          Value: true
+        right_lower_elbow:
+          Value: true
+        right_lower_forearm:
+          Value: true
+        right_lower_shoulder:
+          Value: true
+        right_torso_itb:
+          Value: true
+        right_upper_elbow:
+          Value: true
+        right_upper_elbow_visual:
+          Value: true
+        right_upper_forearm:
+          Value: true
+        right_upper_forearm_visual:
+          Value: true
+        right_upper_shoulder:
+          Value: true
+        right_wrist:
+          Value: true
+        screen:
+          Value: true
+        sonar_ring:
+          Value: true
+        torso:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        camera_link:
+          camera_depth_frame:
+            camera_depth_optical_frame:
+              {}
+          camera_rgb_frame:
+            camera_rgb_optical_frame:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 13.3547
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.958344
+        Y: -2.42494
+        Z: 2.06889
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: -0.0846014
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.780398
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002cbfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000207000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000235000000be0000001600ffffff000000010000010f000002cbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002cb000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000001ee00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 52
+  Y: 52

remap_keys.sh

@@ -0,0 +1,6 @@
+xmodmap -e "keycode 60 = q"
+xmodmap -e "keycode 112 = Q q"
+xmodmap -e "keycode 117 = W w"
+xmodmap -e "keycode 71 = w"
+xmodmap -e "keycode 9 = w"
+