[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

people: face_detector | leg_detector | people_msgs | people_tracking_filter | people_velocity_tracker | social_navigation_layers

Package Summary

Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
  • Author: David V. Lu!! <davidvlu AT gmail DOT com>
  • License: BSD
  • Source: git https://github.com/wg-perception/people.git (branch: hydro-devel)
navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.

navigation_layers: range_sensor_layer | social_navigation_layers

Package Summary

Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.

Social Navigation Layers

There are currently two social navigation layers. However, they both share functionality in that they both subscribe to where people are and alter the costmaps with a Gaussian distribution around those people. Both classes derive from the general SocialLayer class.

They can be used in costmap configurations with the following types:

ProxemicLayer/PassingLayer

The interface for both layers is the same.

Subscribed Topics

/people (people_msgs/People)

Parameters

enabled (bool, default: True) cutoff (double, default: 10.0) amplitude (double, default: 77.0) covariance (double, default: 0.25) factor (double, default: 5.0) keep_time (double, default: 0.75)

How the Costmap Changes

Proxemic Layer

The proxemic layer adds gaussian costs all around the detected person, with the parameters specified above. If the person is stationary, the gaussian is perfectly round. However, if the person is moving, then the costs will be increased in the direction of their motion. How far in front of the person the costs are increased is proportional to the factor parameter.

Stationary Person

Moving Person

Passing Layer

This layer is intended to cause the robot to always pass on the left side of a person and will hence only increase the cost on one side of the person.


2019-10-19 13:13