{"id":25334073,"url":"https://github.com/catrinlam/gesture_localisation_robot","last_synced_at":"2025-04-08T08:43:51.077Z","repository":{"id":206477707,"uuid":"717023377","full_name":"catrinlam/gesture_localisation_robot","owner":"catrinlam","description":null,"archived":false,"fork":false,"pushed_at":"2023-12-04T21:06:00.000Z","size":43354,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-02-14T05:34:55.882Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"http://catrin.is-a.dev/gesture_localisation_robot/","language":"JavaScript","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/catrinlam.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-11-10T11:37:14.000Z","updated_at":"2024-10-25T10:14:06.000Z","dependencies_parsed_at":"2023-11-20T13:46:22.971Z","dependency_job_id":"ef8b98c5-712a-4282-8a57-e8c63ac5b9af","html_url":"https://github.com/catrinlam/gesture_localisation_robot","commit_stats":null,"previous_names":["winter7eaf/gesture-localisation-robot","winter7eaf/gesture_localisation_robot","ca7rin/gesture_localisation_robot","catrinlam/gesture_localisation_robot"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/catrinlam%2Fgesture_localisation_robot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/catrinlam%2Fgesture_localisation_robot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/catrinlam%2Fgesture_localisation_robot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/catrinlam%2Fgesture_localisation_robot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/catrinlam","download_url":"https://codeload.github.com/catrinlam/gesture_localisation_robot/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247807628,"owners_count":20999559,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-02-14T05:34:38.481Z","updated_at":"2025-04-08T08:43:51.047Z","avatar_url":"https://github.com/catrinlam.png","language":"JavaScript","funding_links":[],"categories":[],"sub_categories":[],"readme":"# GestureCommand: A Simulated Camera-Based Gesture Recognition System for Autonomous Table-Specific Delivery Robot\n\n`Gesture-Localisaton-Robot` is a package of camera based hand gesture robot control system. This is the official repository of the final team assignment of Intelligent Robotics Module at University of Birmingham. \u003cbr /\u003e\nA demonstration can be viewed on our [Project website](https://winter7eaf.github.io/gesture_localisation_robot/).\u003cbr /\u003e\n\n|       Robot going Table 5        | Ordering robot to Table 5 using mediapipe |\n|:--------------------------------:|:-----------------------------------------:|\n| ![](Table5_Robot_Simulation.gif) |        ![](Table5_hand_recog.gif)         |\n\n## Contributor\n\nChit Lee ([Github](https://github.com/chit-uob))\u003cbr /\u003e\nJuni Katsu ([Github](https://github.com/JuniJoo))\u003cbr /\u003e\nCheuk Yu Lam ([Github](https://github.com/winter7eaf))\u003cbr /\u003e\nAbbas Mandasorwala ([Github](https://github.com/abbas-119)) \u003cbr /\u003e\nKozerenko Elizaveta ([Github](https://github.com/Lizzzzzok))\u003cbr /\u003e\n\n## Motivation\n\nImagining you are a barista in a coffee shop. You just made a cup of coffee, and you want it delivered to a customer at a certain table. You have a robot, and you put the cup of coffee on top of it. Your hands are not clean, so it will be problematic to press a touchscreen. How can you tell the robot where to go? \u003cbr /\u003e\n\nIntroducing GestureCommand, a camera-based gesture recognition system for autonomous table-specific delivery robot. You can gesture the robot where to go, and it will go there. \u003cbr /\u003e\n\n## Installation\n\n### Ideal Working Environment\n\n- Ubuntu 20.04\n- [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)\n(desktop-full)\n- Python 3.8\n\n### Install ROS Noetic\n\n[Install ROS Noetic](http://wiki.ros.org/ROS/Installation/TwoLineInstall/). \u003cbr /\u003e\n[Set up your catkin workspace](https://wiki.ros.org/catkin/Tutorials/create_a_workspace). \u003cbr /\u003e\n\n### Install dependencies\n\nBefore install everything, run the upgrade command so your system stays update to date.\n\n- `sudo apt upgrade \u0026\u0026 sudo apt update`\n- `sudo apt install ros-$ROS_DISTRO-pr2-teleop ros-$ROS_DISTRO-map-server`.\n\nThis package mainly relies on two libraries: [Mediapipe Machine\nLearning library](https://github.com/google/mediapipe) developed by Google and [OpenCV](https://github.com/opencv/opencv) Open\nsource Computer Vision library (for real time hand detection). \u003cbr /\u003e\n- `pip install mediapipe`\n- `pip install opencv-python`\n\n### Clone our repository and build\n\nGit clone this repo to your `\u003ccatkin_ws\u003e/src` \u003cbr /\u003e\nRun `catkin_make` \u003cbr /\u003e\n\n### Compile laser_trace\n\n* Compile laser_trace.cpp (provides laser ray tracing) as follows **if you are not using arm system(windows, unix...)**:\n\n        cd \u003ccatkin_ws\u003e/src/gesture_localisation_robot/src/laser_trace\n        ./compile.sh #You may have to '''chmod +x compile.sh'''\n\n* replace `./compile.sh` with `./compilearm.sh`  **if you are using arm system(m1 chip mac)**:\n\nIf correctly compiled, you should find `laser_trace.so` in the directory `\u003ccatkin_ws\u003e/src/gesture_localisation_robot/src/pf_localisation`.\nIf the ***code does not compile*** you need to install PythonBoost from https://github.com/boostorg/python. This requires the download and compiling of Boost and installation of Faber.\n\n### Make scripts executable\n\nYou may need to make the varies scripts executable by running `chmod +x {filename}` in the directory `\u003ccatkin_ws\u003e/src/gesture_localisation_robot/scripts`.\n\n## Running the Code\n\nRun `roslaunch Gesture-Localisation-Robot everything.launch` \u003cbr /\u003e\nThis should start\n- the map server\n- the robot simulator stage_ros\n- rviz for visualisation\n- pf_localisation for particle filter localisation\n- move_to_coords.py for the local planner which moves the robot to the goal coordinates\n- hand_track_control.py for the hand tracking and gesture recognition\n- initial_pose_publisher.py for publishing the initial pose of the robot\n\nThis will allow you to input hand gesture from 0 to 5. 0 is corresponding the Till, and 1 to 5 to Tables respectfully. Hold you hand still about 3 seconds, and the robot should start heading to the ordered table number. \u003cbr /\u003e","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcatrinlam%2Fgesture_localisation_robot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcatrinlam%2Fgesture_localisation_robot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcatrinlam%2Fgesture_localisation_robot/lists"}