This package provides human model as a detection target for Tsukuba Challenge (Japanese Page).

An example of using the packages can be seen in Robots/CIR-KIT-Unit03.


This script can delay the launch of a roslaunch file.

Spawn it in launch file


  <param name="human_description1"
      command="$(find xacro)/ '$(find human_model_gazebo)/urdf/human.xacro'" />
  <node name="urdf_spawner_human1" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-urdf -model human1 -param human_description1 -x 7.2 -y 0.49 -z 0.34 -R 0 -P 0 -Y -3.05"/>

Specify a point of spawning the model in Gazebo coordinate.

View a human model

roslaunch human_model_gazebo view_human.launch



Wiki: human_model_gazebo (last edited 2016-12-25 04:22:28 by MoriKen)