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Reading a human's pose from topics

asked 2019-05-13 05:26:30 -0500

espetro gravatar image

Hello there,

I am trying to record a human's pose walking past my robot, at each timestep (for the time being, I didn't configure other sensors to do it). Moreover, I will wrap Gazebo topics with a ROS node. Therefore, I have two options:

  • Deploy the human as an actor: fairly easy, though I cannot see the way to get its pose from Gazebo topics; it's easy if done as a Gazebo recording.
  • Spawn the human as a model: Don't get the idea on how to do it, plus I don't know how to add animation mechanics (i.e. walk.dae). Afterwards, it should be trivial to get its pose from Gazebo topics.

Do you have any clue on how to proceed? Thanks in advance!

Running Gazebo 7.0 with ROS Kinetic

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answered 2019-05-13 09:23:09 -0500

chapulina gravatar image

The pose of each bone in an actor's skeleton is published on ~/skeleton_pose/info. Try for example:

gz topic -e /gazebo/default/skeleton_pose/info

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Asked: 2019-05-13 05:26:30 -0500

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Last updated: May 13