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.

README

human_description

Parametric kinematic model of humans, in URDF format, for usage in robotics and HRI

Human model, rendered in rviz

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.