ravijo / ros_openpose

ros_openpose ROS wrapper for OpenPose | It supports the following- • [x] Any color camera such as webcam etc :heavy_check_mark: • [x] Intel RealSense Camera :heavy_check_mark: • [x] Microsoft Kinect v2 Camera :heavy_check_mark: • [x] Stereolabs ZED2 Camera :heavy_check_mark: (see thanks section) • [x] Azure Kinect Camera :heavy_check_mark: Sample video showing visualization on RViz Overview • Dependencies • Installation • Troubleshooting • Configuration • Operation Modes and APIs • Camera Run Instructions: • Color Camera • Intel RealSense • Microsoft Kinect v2 • Azure Kinect • Stereolabs Zed2 • FAQ • Test Configuration • Citation • Issues • Thanks Dependencies • OpenPose Supported OpenPose Versions: • 1.7.0 *latest* (see point #1 in troubleshooting section) • 1.6.0 (see thanks section) • 1.5.1 • 1.5.0 Note: Additionally, camera-specific ROS drivers such as the following are required as per your camera model- • realsense-ros: For Intel RealSense Camera • iai_kinect2: For Microsoft Kinect v2 Camera • zed-ros-wrapper: For Stereolabs ZED2 Camera • azure_kinect_ros_driver: For Azure Kinect Camera Installation • Make sure to download the complete repository. Use or download zip as per your convenience. • Invoke catkin tool inside ros workspace, i.e., • Make python scripts executable by using the commands below- Troubleshooting • While compiling the package, if the following error is reported at the terminal- In this case, please checkout OpenPose version 1.7.0 by running the following command at the root directory of the OpenPose installation- • While compiling the package, if any of the following error is reported at the terminal- In this case, please checkout OpenPose version 1.6.0 by running the following command at the root directory of the OpenPose installation- Do not forget to run to install the OpenPose system-wide. • If compilation fails by showing the following error- In this case, please put the following by editing the CMakeLists.txt For more information, please check here. • While compiling the package, if the following error is reported at the terminal- In this case, please update the OpenPose. Most likely, an old version of OpenPose is installed. So please checkout Openpose from the master branch as described here. Alternatively, you can checkout OpenPose version 1.5.1 by running the following command at the root directory of the OpenPose installation- Do not forget to run to install the OpenPose system-wide. *Note that OpenPose version 1.5.1 is still supported.* Configuration The main launch file is . It has the following important arguments- • : It represents the full path to the model directory of OpenPose. Kindly modify it as per OpenPose installation in your machine. Please edit file as shown below- • : It is provided to support the standard OpenPose command-line arguments. Please edit file as shown below- • : It can only be one of the following: , , , . Default value of this argument is . See below for more information. Operation Modes and APIs • **Synchronous API** (see thanks section) • Uses method provided by OpenPose • By default this version is disabled. Therefore, please set and provide while calling . For example: • If the arg is not specified, then the CPP node is used. Otherwise, the python node is used. Therefore, please compile OpenPose accordingly if you plan to use python bindings of the OpenPose. • **Asynchronous API** • Uses two workers, and workers provided by OpenPose • Uses OpenPose CPP APIs • By default this version is enabled. Users are advised to try if not satisfied with the performance. Camera Run Instructions In this section, you will find the instructions for running ros_openpose with one of the following cameras: Color camera, Realsense, Kinect v2, Azure Kinect, and ZED2. If you have a different camera and would like to use ros_openpose with depth properties, please turn to the FAQ section for tips and guidance on achieving this. Steps to Run with any Color Camera such as Webcam etc. • Make sure that ROS env is sourced properly by executing the following command- • Start the ROS package of your camera. Basically, this package is going to capture images from your camera, and then it is going to publish those images on a ROS topic. Make sure to set the correct ROS topic to inside config_nodepth.launch file. • Invoke the main launch file by executing the following command- Note: To confirm that ROS package of your camera is working properly, please check if the ROS package is publishing images by executing the following command- Here must have the same value as . Steps to Run with Intel RealSense Camera • Make sure that ROS env is sourced properly by executing the following command- • Invoke the main launch file by executing the following command- Steps to Run with Microsoft Kinect v2 Camera • Make sure that ROS env is sourced properly by executing the following command- • Invoke the main launch file by executing the following command- Steps to Run with Azure Kinect Camera • Make sure that ROS env is sourced properly by executing the following command- • Invoke the main launch file by executing the following command- Steps to Run with Stereolabs ZED2 Camera • Change the parameter in zed-ros-wrapper/zed_wrapper/params/common.yaml to (default is ). • Make sure that ROS env is sourced properly by executing the following command- • Invoke the main launch file by executing the following command- FAQ • **How to add my own depth camera into this wrapper?** You might be able to add your own depth camera by creating your own config_ .launch file based on one of the existing ones and modify it to suit your specific camera. Go inside the subdirectory and make a copy of and save it as . Remember that whatever you choose as the camera_name, should be used as an argument when launching the run.launch to run ros_openpose. Make necessary changes to the , , , and arguments in the file. Make sure that: • Input depth images are ali…