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Srs_human_sensing is a package for detection and tracking people in vicinity of the robot. It is relying on information from the safety laser scanners and the depth information sensor, i.e. Kinect sensor. Additionally the srs_human_sensing module positions/rotates the robot in a best way to confirm or reject human detection hypotheses generated from the leg detection.


The following modules have to be downloaded, their dependancis have to be resolved, and finally they have to be compiled (rosmake ....)


The sequence of starting commands for a test under simulation is as follows:


The output of human sensing is used in UI_PRI and UI_PRO through the topics listed below.

2024-06-15 13:47