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ROS Robotics Projects

Chapter 2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos

One of the capabilities of most service and social robots is face detection and tracking. These robots can identify faces and can move their heads according to the human face that moves around it. There are numerous implementations of face detection and tracking systems on the Web. Most trackers have a pan-and-tilt mechanism, and a camera is mounted on the top of the servos. In this chapter, we will see a simple tracker that only has a pan mechanism. We are going to use a USB webcam mounted on an AX-12 Dynamixel servo. The controlling of Dynamixel servo and image processing are done in ROS.

The following topics will be covered in this chapter:

An overview of the project
Hardware and software prerequisites
Configuring Dynamixel AX-12 servos
The connection diagram of the project
Interfacing Dynamixel with ROS
Creating ROS packages for a face tracker and controller
The ROS-OpenCV interface
Implementing a face tracker...

Key benefits

Create and program cool robotic projects using powerful ROS libraries

Work through concrete examples that will help you build your own robotic systems of varying complexity levels

This book provides relevant and fun-filled examples so you can make your own robots that can run and work

Description

Robot Operating System is one of the most widely used software frameworks for robotic research and for companies to model, simulate, and prototype robots. Applying your knowledge of ROS to actual robotics is much more difficult than people realize, but this title will give you what you need to create your own robotics in no time! This book is packed with over 14 ROS robotics projects that can be prototyped without requiring a lot of hardware. The book starts with an introduction of ROS and its installation procedure. After discussing the basics, you’ll be taken through great projects, such as building a self-driving car, an autonomous mobile robot, and image recognition using deep learning and ROS. You can find ROS robotics applications for beginner, intermediate, and expert levels inside! This book will be the perfect companion for a robotics enthusiast who really wants to do something big in the field.

What you will learn

• Create your own self-driving car using ROS

• Build an intelligent robotic application using deep learning and ROS

• Master 3D object recognition

• Control a robot using virtual reality and ROS

• Build your own AI chatter-bot using ROS

• Get to know all about the autonomous navigation of robots using ROS

• Understand face detection and tracking using ROS

• Get to grips with teleoperating robots using hand gestures

• Build ROS-based applications using Matlab and Android

• Build interactive applications using TurtleBot

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Amazon Customer Jan 31, 2018

Excellent book with a very gentle ramp up for ROS and Ubuntu beginners that gets into very exciting projects. Well worth it.

Amazon Verified review

Neil John Apr 28, 2017

Interesting book. It helped me for my MS thesis. Thanks

ALOK J SHUKLA May 16, 2018

Very good material recommended for practicing Engineers in field of Embedded Systems, IOT & Networking

SAI K. May 07, 2017

It is really an amazing to consider to get aware and attain a good experience level with ROS. This book provides the detail description of every project and how it can be attained. Only a basic programming skills are needed in-prior. No one will regret buying this book. It is really useful.

William Schreiber May 29, 2017

This book is an excellent resource for someone who already knows a bit about ROS, but is trying to actually get something done with ROS.In the past, I have not really been able to get traction with ROS. The documentation will say you can do such and such but it won't fill in the middle pieces of how to get there in a way that I could make work. I would always get stuck on some mundane detail and couldn't get past it (like making URDF file for my robot, which he takes one through!) This book is that bridge from beginner to power user. It has a number of examples that can be built on, put together and leveraged to solve real world problems that robot builders want to solve: 3d mapping, leveraging OpenCV for face recognition, TensorFlow integration example that leverages a model so can id a number of standard items, VR goggles integration, speech etc. He also links one to a number of cool resources I wouldn't have known about except for this book, for example the TensorFlow model to recognize common objects. There have been several times when I have eureka moments when I think, "THAT is why ROS does it that way..."The book is in black and white even though color is necessary to understand some of the diagrams. There is a color pdf on the publisher site that helps there, kind of a pain though since if the book was color, I wouldn't need to download that. Fairly well done overall except for that complaint.I am excited that I finally have a resource to help me leverage what ROS can do. My next robot build will be a huge step forward simply because I have concrete samples that show how to leverage what ROS has been able to do all along.

No	Component name	Estimated price (USD)	Purchase link
1	Webcam	32	https://amzn.com/B003LVZO8S
2	Dynamixel AX-12A servo with mounting bracket	76	https://amzn.com/B0051OXJXU
3	USB-to-Dynamixel Adapter	50	http://www.robotshop.com/en/robotis-usb-to-dynamixel-adapter.html
4	Extra 3-pin cables for AX-12 servos	12	http://www.trossenrobotics.com/p/100mm-3-Pin-DYNAMIXEL-Compatible-Cable-10-Pack
5	Power adapter	5	https://amzn.com/B005JRGOCM
6	6-port AX/MX power hub	5	http://www.trossenrobotics.com/6-port-ax-mx-power-hub
7	USB extension cable	1	https://amzn.com/B00YBKA5Z0
	Total cost with shipping and tax	Around 190-200

No	Component name	Estimated price (USD)	Purchase link
1	Webcam	32	https://amzn.com/B003LVZO8S
2	Dynamixel AX-12A servo with mounting bracket	76	https://amzn.com/B0051OXJXU
3	USB-to-Dynamixel Adapter	50	http://www.robotshop.com/en/robotis-usb-to-dynamixel-adapter.html
4	Extra 3-pin cables for AX-12 servos	12	http://www.trossenrobotics.com/p/100mm-3-Pin-DYNAMIXEL-Compatible-Cable-10-Pack
5	Power adapter	5	https://amzn.com/B005JRGOCM
6	6-port AX/MX power hub	5	http://www.trossenrobotics.com/6-port-ax-mx-power-hub
7	USB extension cable	1	https://amzn.com/B00YBKA5Z0
	Total cost with shipping and tax	Around 190-200

ROS Robotics Projects: Make your robots see, sense, and interact with cool and engaging projects with Robotic Operating System

What do you get with Print?

ROS Robotics Projects

Chapter 2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos

Overview of the project

Note

Hardware and software prerequisites

Note

Interfacing Dynamixel with ROS

Installing the ROS dynamixel_motor packages

Creating face tracker ROS packages

Note

Overview of the project

Note

Hardware and software prerequisites

Note

Interfacing Dynamixel with ROS

Installing the ROS dynamixel_motor packages

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