This is a face tracking Santa Head project for my YouTube channel. Built using a Raspberry PI 4 and Raspberry PI Pico.
Please clone with the --recurse-submodules switch to include the libraries.
This is dependent on three libraries:
- MicroROS - Allow Pico to see and communicate with ROS Nodes
- FreeRTOS Kernel - Allow multi threading tasks on Pico
- Eigen - Used to do some Robot maths
To build binary
mkdir build
cd build
cmake ..
make
The Raspberry PI needs to be running MicroROS bridget to connect to the Pico. See the repo MicroROS or my video walkthrough on MicroROS
You will also need to install ROS Humble.
The py folder contains two python programms.
This will instruct the head to move to a possition. It takes pitch and yaw as parameters in radians. (-PI/2 to PI/2).
This uses openCV to detect faces on a camera and instruct the Robot to turn towards that face.