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/humans/reference_frame Quick Facts


Social perception

Datatype type


Datatype type


persons’ TF frames must be published with respect to reference_frame. Typically, faces/bodies/voices frames are published wrt to their respective sensors frame. reference_frame is usually a ‘static’ frame (eg map), so that if the person moves out of view of the robot (and therefore, its position can not be updated anymore), it remains where it was last seen, independently of any possible robot motion.

Quick snippets#

Read the value of the parameter#
$ rosparam get /humans/reference_frame
Set the value of the parameter#
$ rosparam set /humans/reference_frame