Human aware velocities¶
This package adjusts the velocity of the robot in the presence of humans.
Human aware cmd_vel¶
A node to adjust the velocity of the robot by taking the /cmd_vel topic and republishing it. In order for this to work you have to remap the /cmd_vel output of your node or navigation stack to the input topic of this node. It relies on the output of the strands_pedestrian_localisation package to provide the actual position of humans in the vicinity of the robot.
Parameters¶
pedestrian_location
Default: /pedestrianlocalisation/localisations_: The topic on which the actual pedestrian locations are published by the pedestrian localisation package (bayes_people_tracker/PeopleTracker).cmd_vel_in
Default: /humanaware_cmd_vel/input/cmd_vel_: The topic to which the original /cmd_vel should be published.cmd_vel_out
Default: /cmdvel_: The modified /cmd_vel.threshold
Default: 3: Threshold in seconds to determine which person detections from the cache are too old to use.max_speed
Default: 0.7: The maximum speed the robot should achiev.max_dist
Default: 5.0: The distance at which the node starts taking detections of humans into account.min_dist
Default: 1.5: The cmd_vel will be 0.0 if there is a person closer to the robot than this.
Running¶
rosrun strands_human_aware_velocity human_aware_cmd_vel [_parameter:=value]
Original page: https://github.com/strands-project/strands_hri/blob/hydro-devel/strands_human_aware_navigation/README.md