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