ROS 2 (Humble) package that wraps hand_tracking into a node. Subscribes to a webcam image topic, runs hand landmark detection, and publishes AckermannDriveStamped commands based on finger gestures.
Used to add gesture-based teleoperation to MIT RSS's simulated racecar, a fork of mit-rss/racecar_docker
| Fingers Raised | Command |
|---|---|
| 0 | Go straight |
| 1 (index only) | Turn — angle maps to index finger direction |
| 2 | Accelerate |
| 3 | Decelerate |
| 5 | Stop |
cd ~/your_ws/src
git clone https://github.com/hcr-vvatel/hand_controller.git
cd .. && colcon build --packages-select hand_controller
source install/setup.bash
ros2 run hand_controller hand_controller- racecar_docker — gesture-controlled teleoperation of MIT RSS's simulated racecar in Gazebo.