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Getting Started with ROS4HRIDescription: A quick tutorial to check the basics of ROS4HRI work on your machine
Tutorial Level: INTERMEDIATE
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
If not done yet, install hri_face_detect
then, start hri_face_detect:
$ rosrun hri_face_detect detect
Explore the results with rostopic echo. In particular, check /humans/faces/tracked
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.