 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Getting Started with ROS4HRI
Description: A quick tutorial to check the basics of ROS4HRI work on your machineKeywords: hri
Tutorial Level: INTERMEDIATE
Contents
Important
This tutorial assumes you are already familiar with the basic ROS concepts. If not, please start with the ROS Tutorials.
Get face detection working
publish your webcam video stream
$ rosrun usb_cam usb_cam_node /usb_cam/image_raw:=/image /usb_cam/camera_info:=/camera_info
face detection
If not done yet, install hri_face_detect
then, start hri_face_detect:
$ rosrun hri_face_detect detect
ROS4HRI topics
Explore the results with rostopic echo. In particular, check /humans/faces/tracked
ROS4HRI visualisation
Make sure you have installed the ros-noetic-hri-rviz and start rviz
Enable the Humans plugin and configure it image topic parameter to point to /image. You should now see your face highlighted, along with facial landmarks.
You can now start the complete ROS4HRI walk-through.
