HandsFree_Sim

Idea

Control the turtle in the turtlesim just by your hand gestures!

Available gestures:

Victory Sign (✌️) --> Go straight
Pointing finger (☝️) ( left tilted ) --> Turn left on its spot
Pointing finger (☝️) ( right tilted ) --> Turn right on its spot
Raised Hand (✋) ( left tilted ) --> Turn left and go straight as well
Raised Hand (✋) ( right tilted ) --> Turn right and go straight as well
Fist (✊) --> Stop

Note: 5 seconds of inactivity/no gesture will automatically stop the program.
This package has been created and tested on Ubuntu 22.04 with ROS2 Humble.

How to build

Creating a workspace to build the package

mkdir -p ~/handsfreesim_ws/src && cd ~/handsfreesim_ws/src

Cloning the package

git clone https://github.com/kalashjain23/handsfree_sim
cd ~/handsfreesim_ws

Installing the dependencies and building the workspace

rosdep install --from-paths src -y --ignore-src
colcon build

How to use

# source the workspace
source ~/handsfreesim_ws/install/setup.bash

# All set to go! Run the launch file
ros2 launch handsfree_sim main.launch.py

Now you can control turtles in the turtlesim just by your hand gestures :D

handsfree.mp4