/openpose_ros2

A ROS2 package that call the OpenPose from ROS2.

Primary LanguagePythonMIT LicenseMIT

openpose_ros2

English | 日本語

A ROS2 package that call the OpenPose from ROS2.

Required

  • Python 3.6
  • ROS2 dashing
  • cv_bridge
  • OpenPose
    • Python Wrapper

Checked environment

  • Python 3.6
  • Ubuntu 18.04 LTS
  • ROS2 dashing
  • OpenPose v1.7.0

Installation

  1. Install OpenPose. This package requires OpenPose Python Wrapper.
  2. Clone this repository to your ros2 workspace (substantially ~/ros2_ws/src ).
  3. Change directory ros2 workspace root (substantially ~/ros2_ws ), and build package with colcon build --base-paths src/openpose_ros2 .
  4. Update packages with . install/setup.bash .

Run node with params.yml (RECOMMEND)

  1. Change directory ros2 workspace root.
  2. Run cp ./src/openpose_ros2/openpose_ros2/params.yml.sample ./src/openpose_ros2/openpose_ros2/params.yml .
  3. Edit ./src/openpose_ros2/openpose_ros2/params.yml. Please see "ROS2 parameters".
  4. Run ros2 run openpose_ros2 openpose_ros2 __params:=src/openpose_ros2/openpose_ros2/params.yml .

Run node with launch command

  1. Change directory ros2 workspace root.
  2. Edit ./src/openpose_ros2/openpose_ros2/launch/openpose_ros2.py . Please see "ROS2 parameters".
  3. Build package with colcon build --base-paths src/openpose_ros2 and . install/setup.bash .
  4. Run ros2 launch openpose_ros2 openpose_ros2.py .

Nodes

  • /openpose_node

Topics

  • /openpose/pose_key_points [openpose_ros2_msgs/msg/PoseKeyPointsList]
  • /openpose/preview [sensor_msgs/msg/Image] (debug mode only)
  • /openpose/preview/compressed [sensor_msgs/msg/CompressedImage] (debug mode only)

ROS2 parameters

  • is_debug_mode : If true, run debug mode.
  • openpose_root : The path of openpose root dir.
  • is_image_compressed : If true, input images expect CompressedImage. Otherwise, input images expect Image.
  • image_node : The string of input image node.

License

MIT License