Only released in EOL distros:  

Srs_human_sensing is a package for detection and tracking people in vicinity of the robot. It is relying on information from the safety laser scanners and the depth information sensor, i.e. Kinect sensor. Additionally the srs_human_sensing module positions/rotates the robot in a best way to confirm or reject human detection hypotheses generated from the leg detection.


The following modules have to be downloaded, their dependancis have to be resolved, and finally they have to be compiled (rosmake ....)

  • srs_leg_detector
  • srs_human_sensing
  • cob_people_perception


The sequence of starting commands for a test under simulation is as follows:

  • roslaunch srs_scenarios srs_scenario_sim.launch
  • roslaunch srs_leg_detector srs_leg_detector_front.launch
  • rosrun srs_human_sensing
  • rosrun srs_human_sensing
  • rosrun srs_body_detector srs_body_detector
  • rosrun srs_human_sensing


The output of human sensing is used in UI_PRI and UI_PRO through the topics listed below.

  • /tracked_people
  • /people_detections_cloud
  • /people_tracker_filter

Wiki: srs_human_sensing (last edited 2012-07-20 15:51:07 by Noyvirt)