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.