TonyJacb/ros_midas

ros_midas

ROS Package for MidasV2.2 small.

Node

The topic names can be changed in the param.yaml

Subscribed Topics

1. /webcam/image_raw (sensor_msgs/Image)
   The input RGB image stream

Published Topics

1. /midas/depth_raw (sensor_msgs/Image)
   The resultant image after being passed through the detector.
   

Services

1. start_depth (std_srv/SetBool)
   Switches on or off the estimator.

Requirements

Midas v2.1 small (link)

pip install numpy opencv-python tflite tensorflow

Usage

roslaunch ros_midas model.launch
rosservice call /start_depth "data: false/true" to set the detection off/on