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