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Human Tracking

Imagine how wonderful it would be to have an intelligent humanoid robot accompany you while shopping, carrying your bags! This section will introduce how to implement human following functionality using OriginMan.

Running the Example

After successfully connecting via SSH, enter the following command to operate OriginMan:

ros2 launch body_tracking body_tracking_without_gesture.launch.py

After launching, you will see the following interface:

image-20220902155741884

Now open another terminal and enter the following command:

ros2 topic echo /cmd_vel
image-20220902155741884

cmd_vel represents the actual speed at which the robot will run!

linear:
  x: 0.30000001192092896
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0

linear.x:0.30000001192092896 means moving forward at a speed of 0.3m/s.

Now we need to convert this speed into our actions.

Press Ctrl+C in the current terminal and run the following command:

ros2 run originman_demo cmdvel_to_action_node

At this point, you can see the robot start moving and approaching you. After reaching a certain distance, it will even wave at you.

root@ubuntu:~# ros2 run originman_demo cmdvel_to_action_node
[INFO] [1740723064.148182250] [cmd_vel_to_action_node]: CmdVel to action node started, executing initial standing action...
[INFO] [1740723064.655577271] [cmd_vel_to_action_node]: Executing action group: stand
[INFO] [1740723069.663428866] [cmd_vel_to_action_node]: CmdVel to action node ready, waiting for /cmd_vel messages...
[INFO] [1740723069.668012120] [cmd_vel_to_action_node]: Received velocity command: linear_x=0.5, angular_z=0.0, executing action: forward
[INFO] [1740723070.780538562] [cmd_vel_to_action_node]: Executing action group: go_forward
[INFO] [1740723089.300148717] [cmd_vel_to_action_node]: Received velocity command: linear_x=0.0, angular_z=0.0, executing action: wave
[INFO] [1740723093.284371927] [cmd_vel_to_action_node]: Executing action group: wave

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