hri_rviz
- Software
- Perception
- Tool
A set of rviz2 plugins for visualising human-related data, such as detected faces, bodies, skeletons and human TF frames. It is part of the ROS4HRI ecosystem.
Made by ROS4HRI.
Source on GitHub: github.com/ros4hri/hri_rviz (opens in a new tab). Facts read at commit 981e4d7 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 981e4d7 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Humans plugin overlays face and body bounding boxes, face landmarks and 2D skeleton keypoints on a camera stream.
- Skeletons3D plugin visualises the estimated 3D poses of detected humans.
- TF_HRI plugin shows human-related TF frames only for currently tracked faces and bodies, removing stale ones.
- TF_HRI can be filtered to show face frames, gaze frames, or body frames.
- Plugins are added through the rviz2 Displays panel via the Add button, by topic or by display type.
- Testing uses hri_face_detect and hri_fullbody with an RGB camera stream publishing raw images.
Written by Robotheca from the project's README (opens in a new tab) at commit 981e4d7.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 3 Feb 2026 on humble-devel
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.