landmarks`#

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/humans/faces/*/landmarks Quick Facts

Category: 👥 Social perception
Message type: hri_msgs/msg/FacialLandmarks
Direction: ➡️ you normally subscribe to this topic.

2D facial landmarks extracted from the face

Quick snippets#

Check the publication rate#

$ ros2 topic hz /humans/faces/*/landmarks

Display the data published on the topic#

$ ros2 topic echo /humans/faces/*/landmarks

How to use in your code#

Subscribe to the topic using Python#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from hri_msgs.msg import FacialLandmarks


class LandmarksSubscriber(Node):

    def __init__(self):
        super().__init__('humans_faces_landmarks_subscriber')
        self.subscription = self.create_subscription(
            FacialLandmarks,
            '/humans/faces/*/landmarks',
            self.listener_callback,
            10)

    def listener_callback(self, msg):
        # see https://docs.ros2.org/latest/api/hri_msgs/msg/FacialLandmarks.html
        # for the msg structure
        self.get_logger().info('I heard: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    subscriber = LandmarksSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Subscribe to the topic using C++#

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "hri_msgs/msg/facial_landmarks.hpp"

using std::placeholders::_1;
using namespace rclcpp;

class LandmarksSubscriber : public rclcpp::Node
{
public:
    LandmarksSubscriber()
    : Node("humans_faces_landmarks_subscriber")
    {
    subscription_ = this->create_subscription<hri_msgs::msg::FacialLandmarks>(
            "/humans/faces/*/landmarks",
            10,
            std::bind(&LandmarksSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const hri_msgs::msg::FacialLandmarks::SharedPtr msg) const
    {
    // see https://docs.ros2.org/latest/api/hri_msgs/msg/FacialLandmarks.html
    // for the msg structure
    RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
    }

    Subscription<hri_msgs::msg::FacialLandmarks>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<LandmarksSubscriber>());
shutdown();
return 0;
}

/humans/faces/*/landmarks#

Quick snippets#

How to use in your code#

`/humans/faces/*/landmarks`#