Package Description

This package contains human_following and its msgs

The main function of this package is making the robot following human beings and recording their activities

The State Machine inside the package contains:

Start stage - Wandering stage - Following stage - Local-searching stage

Getting Start

Before you can launch this package, you need:

(on bob)
roscore
bring_up

(on bobl)
openni
scitos_ptu
people_track

To start this human_following module, simplly launch:

roslaunch human_following human_following_server.launch
roslaunch human_following human_following_client.launch

Configurations

To change the settings of this package, find:

/launch/following_param.launch

Parameters you can change are listed below:

envr      (system mode): sim/real
wandering_mode         : normal/wait
time (how long it runs): (int)
wander_area            : (polygon)
follow_area            : (polygon)
max_t_frames(tolerence): (int)
alpha                  : (double)
distance(safe distance): (double)

Problems

Local Searching state may not work at all.

Can not catch up with human's normal pace.

Can not follow when people walk towards or pass by the robot.