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Original wrapper: https://github.com/hansonrobotics/ros_posenet

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

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 ros_posenet/Poses.msg
  • Algorithm parameters to adjust performance. See launch file for full list> References could be found PoseNet Official Github

Running

  • roslaunch ros_posenet posenet.launch or rosrun ros_posenet posenet.js
  • rosrun ros_posenet display_keypoints.py to display the detected poses

Limitations

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