MindRove Package

Overview

This is a ROS1 package designed to interface with the MindRove Armband. The package processes data from the armband's 8 EMG channels and 6 IMU channels (Gyroscope and Accelerometer) to detect a double_squeeze trigger and perform gesture classification. Based on the detected gestures, the package can execute various robot commands, which can be customized in the command_center.py script.

Requirements

The required dependencies for this package are listed in the requirements.txt file. To install them, you can use the following command:

pip install -r requirements.txt

Features

• Double Squeeze Trigger: The package can detect a double squeeze gesture to activate the command listening mode. This allows the system to start listening for subsequent gesture commands to execute.
• Gesture Classification: The package can classify different gestures such as wave, push, squeeze, point, and thumb_up.
• Customizable Commands: Users can customize the robot commands associated with each gesture in the command_center.py script.
• Robot Control: The package can send navigation goals, change LED colors, and play sounds based on the classified gestures.

Installation

1. Ensure you have ROS1 installed on your system.
2. Clone this repository into your ROS workspace:

   cd ~/catkin_ws/src
   git clone <repository_url>

3. Build the package:

   cd ~/catkin_ws
   catkin_make

Usage

1. Source your ROS workspace:

   source ~/catkin_ws/devel/setup.bash

2. Launch the program with the launch file:

   roslaunch lauch mindrove_launch.launch

Customizing Commands

The command_center.py script contains the logic for handling different gestures. You can customize the commands by modifying the callback function in the script.