human_description
- This package contains a parametric kinematic description of humans.
The files in this package are parsed and used by a variety of other components, notably in the context of human-robot interaction. Most users will not interact directly with this package.
Links
README
human_description
Parametric kinematic model of humans, in URDF format, for usage in robotics and HRI
Part of the ROS4HRI project.
Testing
Install the package, and launch ros2 launch human_description show.launch.py
.
This will display the human model, as well as a GUI to control the human joint
state (you might need to install joint_state_publisher_gui
on your system if
not yet available).
The script script/create_human_urdf.py
can also be used to generate a URDF
model from the template, showcasing the different parameters that can be
configured.