ROS4HRI

Human-Robot Interaction with ROS 1/ROS 2

Welcome to ROS4HRI

ROS for Human-Robot Interaction (or ROS4HRI [ros4hri]) is the main ROS API for your robot to represent information about the human surrounding and interacting with the robot.

ROS4HRI and rviz

ROS4HRI actually refers to a set of conventions and tools that help developing Human-Robot Interaction capabilities. The specification (originally developed by PAL Robotics) is available online as the ROS REP-155.

The ROS4HRI API defines several types of identifiers
(IDs)

Useful links

Access the tutorials
The REP-155 aka ROS4HRI specification, on ROS website.
The ROS wiki contains useful resources about ROS4HRI.

ROS4HRI and rviz

References

- ros4hri **ROS for Human-Robot Interaction** Y. Mohamed; S. Lemaignan, *IROS 2021*, [doi: 10.1109/IROS51168.2021.9636816](https://doi.org/10.1109/IROS51168.2021.9636816)