person_navigation

ROS package to translate from the output of person_tracking node to cmd_vel movement.

Robot moves to target when target is selected. When target is not selected robot spins in the last movement direction.

Setup

Hardware

• Intel Realsense 2

Requirements

• Python3
• rospy
• OpenCV

ROS

• ROS Melodic
• cv_bridge
• realsense2_camera
• person_tracking

Installation

Setup ROS Melodic and your catkin_ws if you have not done so.

Install the required python 3 modules using pip3 or a virtualenv. Do not use Anaconda. Git clone this repository into src of your catkin_ws.

cd catkin_ws/src
git clone https://github.com/NP-Robotics/person_navigation.git
cd person_navigation

catkin_make the package

cd ..
catkin_make

Running

Initialization

Start roscore

roscore

Start realsense node for depth and color image aligned

roslaunch realsense2_camera rs_aligned_depth.launch

Start person_tracking node in service mode.

roslaunch person_tracking person_tracker_srv.launch

Start person_navigation node.

roslaunch person_navigation person_navigation.launch

person_navigation should be working and publishing movement values to cmd_vel.