hri_body_detect#
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hri_body_detect Quick Facts
- Category
- Debian package
hri_body_detect-3.1.5- Author/maintainer
Maintainer: Ferran Gebelli <ferran.gebelli@pal-robotics.com>
- License
Apache 2.0
ROS node implementing 2D/3D multi-body pose estimation, using Google Mediapipe. Part of ROS4HRI.
hri_body_detect is a ROS4HRI-compatible 3D body pose estimation node.
It is built on top of Google Mediapipe 3D body pose estimation.
The node provides the 2D and 3D pose estimation for the detected humans in the scene, implementing a robust solution to self-occlusions.
This node performs the body-pose detection pipeline, publishing information under the ROS4HRI naming convention regarding the body ids (on the /humans/bodies/tracked topic), the bodies bounding box, and the jointstate of the bodys’ skeleton.
It supports multi-body detection, being able to detect up to 5 bodies.
To estimate the body position, the node does not need a RGB-D camera, only RGB is required. However, using RGB-D camera provides a more accurate depth estimation.
Node management#
How to check the status of the node?#
# this a copy-pastable snippet to check the status
# this a copy-pastable snippet using rosnode/rostopic to check the node is working
How to access the node’s logs?#
# this a copy-pastable snippet
How to start/stop/restart the node#
# this a copy-pastable snippet
Using in your code/application#
Access via the robot’s GUI#
[insert screenshots here]
Access via ROS standard tools#
# this a copy-pastable snippet
[insert screenshots here]
Using in Python#
# this a copy-pastable snippet
Using in C++#
# this a copy-pastable snippet