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[[Tutorial using ROS for ver.3]]

* TurtleBot3 recognizes human pointing direction [#xc5f1917]

TurtleBot3 is a sample program that recognizes the pointing direction of a human avatar and rotates the Manipulator in that direction.
In this example, TurtleBot3 recognizes the pointing direction of the human avatar and rotates the Manipulator in that direction.

** Startup Procedure [#a0463d42]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#l8b689c6]

Open a new terminal and run the following command:
 $ roslaunch sigverse_turtlebot3_open_manipulator recognize_pointed_direction.launch


*** Windows side startup procedure [#z37ca133]

Start the [Assets/SIGVerse/SampleScenes/Turtlebot3/Pointing(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].


** Run [#o9555b32]

Pressing the left and right arrow keys on the Unity side moves the right hand of the human character. ~
When you press the left and right arrow keys on the Unity window, the right hand of the human character moves. ~
Then press the Space key and TurtleBot3 will rotate the Manipulator in the direction that the human character points.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side 
#ref(TurtleBot3PointingUbuntu.png)

Windows side
#ref(TurtleBot3PointingWindows.png)

Backup diff of (TurtleBot3)Recognize Human Pointing (No. 2)