Table of contents

• General info
• Required Hardware
• Requirements
• How to launch the project

General info

This project tries to meet the requirements of the challenge 'Road Work' at the Cybathlon competion (2024).

Required Hardware

• RGB-D camera (in this project an Asus Xtion Pro was used)
• A computer with ROS, Python and a speaker

Requirements

Python :

• OpenCV
• Numpy
• Playsound
• Time

ROS :

• Openni2

How to launch the project

1. Open a terminal

$ roscore

2. Open another terminal Launch the camera

$ roslaunch openni_launch openni.launch

3. Open another terminal Run the Image Processing Node

First set the red color mask :

$ cd catkin_make/src/Image_Processing_Algorithm/scripts
$ chmod +x SetHSV.py
$ rosrun Image_Processing_Algorithm SetHSV.py

Keep the values of trackbars and set them in the Algorithm.py file

Then you can run the complete algorithm

$ cd catkin_make/src/Image_Processing_Algorithm/scripts
$ chmod +x Algorithm.py
$ rosrun Image_Processing_Algorithm Algorithm.py

5. Open another terminal Run the Vocal Feedback Node

$ cd catkin_make/src/Vocal_Feedback/scripts
$ chmod +x Vocal_Instructions.py
$ rosrun Vocal_Feedback Vocal_Instructions.py

Group Members

• Juliette Faure
• Esra Gudum
• Jade La
• Lauraine Tiogang Nanko