Summary

This chapter was about making a gesture-based teleoperation project for a ROS-based robot. We used an IMU to detect gestures and interfaced with the Arduino to get the values from the IMU. The Arduino is interfaced with ROS using the ROS serial protocol. The PC is running a ROS node that can convert IMU orientation into linear and angular velocity and send it as a twist message. This twist message can be used in any robot just by changing the teleop topic name. We can also visualize the IMU orientation data in Rviz using TF data from Arduino. If it is too difficult to build this circuit, we can use an Android app called ROS Control that can move the robot using the inbuilt IMU on the phone.

In the next chapter, we'll be dealing with 3D object recognition using ROS.