Gazebo | Ignition | Community
Ask Your Question

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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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

edit flag offensive delete link more
Login/Signup to Answer

Question Tools



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

Seen: 163 times

Last updated: May 13 '19