Azure-Kinect-bodytrack-ur10e

Interact people's arm movements with azure kinect bodytrack

Prerequisites

• Python 3
• opencv-python
• ur_rtde
• pillow
• pyyaml
• rosmsg, rospy

Azure Kienct DK official documents here，about sensor SDK and bodytrack SDK。ur_rtde official documents here，about Installation and Introduction to ur robotarm and robotiq gripper。In scripts,config.py, _k4a.py, _k4abt.py, _k4abtTypes.py, _k4atypes.py, kinectBodyTracker.py, pyKinectAzure.py are about kinect sensor and bodytrack, robotiq_gripper_control.py, robotiq_preamble.py are about robotiq gripper，ros_publisher.py, ros_subscriber.py start bodytrack, vedio and ur robotarm and gripper.

First, cd /Kinect_ws compile work space catkin_make

start bodytrack and show vedio

source activate your virtual environment (optional)
source devel/setup.bash
rosrun bodytrack ros_publisher.py

start ur10e

source activate your virtual environment (optional)
source devel/setup.bash
rosrun bodytrack ros_subscriber.py