/ros_posenet

Primary LanguageC++

ROS PoseNet

ROS wrapper for PoseNET library in NodeJS PoseNet demo: Here

  • Current implementation is for experiments only *

Requirements

  • ROS Kinetic
  • NodeJS 8.x
  • Cuda 9.0 + cuDNN 7.1 (for GPU acceleration only)

Installation

  • Clone to ROS workspace and build
  • npm install inside the package folder
  • if you use this program offline, you edit must their files.
  • 1: '..node_modules/@tensorflow-models/posenet/dist/checkpoints.js'
  • 2: '..node_modules/@tensorflow-models/posenet/dist/posenet.js'

Configuring

Following ROS parameters should be set:

  • gpu: (true / false) - Specifies if GPU acceleration should be used
  • topic - Uncompressed RGB8 encoded image topic
  • out_topic - specifies topic for result output. Output topic publishes JSON string that needs to be decoded as std_msgs/String message
  • Algorithm parameters to adjust performance. See launch file for full list> References could be found PoseNet Official Github

Running

  • bash start_posenet.sh
  • launch ros_kinect

Limitations

  • Only multiple pose detection implemented
  • Requires internet to download the model weights
  • Only ROS tpopics with RGB8 encoding are supported as inputs