Version: QTrobot V2

Human hands detection

Overview

Level: Intermediate
Goal: learn how to detect human hands status with QTrobot Nuitrack interface
Requirements:

In this tutorial we will learn how to detect human hands status with QTrobot Nuitrack interface using ROS Subscribes.

Create a python project

First we create a python project for our tutorial. let's call it tutorial_qt_hands and add the required python file:

cd ~/catkin_ws/src
catkin_create_pkg tutorial_qt_hands std_msgs rospy roscpp -D "Reading human hands status"
cd tutorial_qt_hands/src
touch tutorial_qt_hands_node.py
chmod +x tutorial_qt_hands_node.py

Code

Open the tutorial_qt_hands_node.py file and add the following code:

#!/usr/bin/env python
import sys
import rospy
from std_msgs.msg import String
from qt_nuitrack_app.msg import Hands
from qt_robot_interface.srv import *


def hands_callback(msg):
    if msg.hands[0].right_click:
        speech_pub.publish("Right hand")
        rospy.sleep(2)
    elif msg.hands[0].left_click:
        speech_pub.publish("Left hand")
        rospy.sleep(2)

if __name__ == '__main__':
    rospy.init_node('my_tutorial_node')
    rospy.loginfo("my_tutorial_node started!")

    emotionShow = rospy.ServiceProxy('/qt_robot/emotion/show', emotion_show)
    speech_pub = rospy.Publisher('/qt_robot/speech/say', String, queue_size=1)

    # define ros subscriber
    rospy.Subscriber('/qt_nuitrack_app/hands', Hands, hands_callback)
   
    try:
        rospy.spin()
    except KeyboardInterrupt:
        pass

    rospy.loginfo("finsihed!")

First we imported Hands message type from qt_nuitrack_app.msg message library. This message type is used in communication with /qt_nuitrack_app/hands.

Tip

How do we know which messages an interface uses? well, There is a useful command in ROS which tells you that:

rostopic info /qt_nuitrack_app/hands
Type: qt_nuitrack_app/Hands
...

Then we created a subscriber for/qt_nuitrack_app/hands with callback function hands_callback. In the callback we react accordingly to what is detected. If we detect "right_click" QTrobot will say "Right hand". That will make QTrobot react to your hands.

def hands_callback(msg):
    if msg.hands[0].right_click:
        speech_pub.publish("Right hand")
        rospy.sleep(2)
    elif msg.hands[0].left_click:
        speech_pub.publish("Left hand")
        rospy.sleep(2)

Stand in front of QTrobot and lift up your right arm pointing towards QTrobot with open hand. When you close your right hand the "right_click" will be detected.

Create a python project​

Code​

Create a python project

Code