ROS QT User Interface Package for Assistive Robotics

Introduction

Substantial research has been published in Human Robot Interaction (HRI), tracking, and visual servoing over the past decade. We present an intuitive system based on the user-centered design for setting and executing visual tasks. Our HRI system expands on the work by Gridseth et al., incorporating visual task specification, registration based tracking and uncalibrated image- based visual servoing.

Required Prerequisites:

• ROS Indigo
• MTF
• Qt
  • version 4.8.6 used during development
• OpenCV
  • version 2.4.8 used during development
• Eigen
  • version 3.2.10 used during development

Required ROS Packages:

• mtf_bridge
• geometric_error

Usage:

# Steps to create a new catkin workspace and install packages
source /opt/ros/indigo/setup.bash
mkdir -p catkin_ws/src
cd catkin_ws
catkin_make
cd src
git clone https://github.com/lpetrich/user_interface.git
git clone https://github.com/lpetrich/geometric_error.git
git clone https://github.com/lpetrich/mtf_bridge.git
cd ..
catkin_make
# To use in a preexisting workspace, cd to the src folder and follow the last 5 steps

# To run, use one of the following commands
roslaunch user_interface single.launch
roslaunch user_interface stereo.launch

Additional Resources:

• Website

• Report