https://github.com/ar-ray-code/motpy_ros
ROS example programs using motpy.
https://github.com/ar-ray-code/motpy_ros
bounding-boxes darknet-ros motpy object-tracking python ros1 ros2
Last synced: 5 months ago
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ROS example programs using motpy.
- Host: GitHub
- URL: https://github.com/ar-ray-code/motpy_ros
- Owner: Ar-Ray-code
- License: apache-2.0
- Created: 2021-03-21T06:09:48.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2022-04-10T17:22:18.000Z (about 3 years ago)
- Last Synced: 2024-05-01T17:48:04.913Z (about 1 year ago)
- Topics: bounding-boxes, darknet-ros, motpy, object-tracking, python, ros1, ros2
- Language: Python
- Homepage:
- Size: 5.03 MB
- Stars: 7
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# motpy_ros
ROS example programs using [motpy](https://github.com/wmuron/motpy).
## Dependencies
- ROS2 Foxy
- OpenCV
- v4l2_camera
- [darknet_ros_msgs](https://github.com/ajaypaul2008/darknet_ros/tree/foxy/darknet_ros_msgs)
- [motpy](https://github.com/wmuron/motpy)
## Installation
```shell
# Create workspace
$ source /opt/ros/foxy/setup.bash
$ cd ~
$ mkdir -p ros2_ws/src
$ cd ros2_ws/src
$ sudo apt install ros-foxy-v4l2-camera
# Clone repository
$ git clone --branch ros2-foxy https://github.com/Ar-Ray-code/motpy_ros.git
$ pip3 install motpy_ros/requirements.txt
$ cd ~/ros2_ws
$ colcon build --symlink-install
```
## Demo (example_mosaic)
Connect your webcam (/dev/video0) and execute the following commands.
```shell
$ source /opt/ros/noetic/setup.bash
$ source ~/ros1_ws/devel/setup.bash
$ roslaunch motpy_ros example_mosaic.launch
```
### The role of each Node is as follows
- camera : Publish the video from the webcam.
- face_detector : "res10_300x300_ssd_iter_140000.caffemodel" (OpenCV) to detect faces.
- darknet_tracking : Tracking boundingboxes by motpy.
- mosaic_bbox : Display tracking image with mosaic.
### About topic
Run `$ rostopic echo /tracking_data/bounding_boxes` to check bounding_boxes topic
```bash
header:
seq: 464
stamp:
secs: 1619954372
nsecs: 821653734
frame_id: "head_camera"
image_header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
bounding_boxes:
-
probability: 0.783602034603571
xmin: 200
ymin: 103
xmax: 272
ymax: 181
id: 728
Class: "face"
-
probability: 0.8840379995412154
xmin: 44
ymin: 111
xmax: 176
ymax: 236
id: 3840
Class: "face"
...
```
### The role of each Node is as follows
- camera : Publish the video from the webcam.
- face_detector : "res10_300x300_ssd_iter_140000.caffemodel" (OpenCV) to detect faces.
- darknet_tracking : Tracking boundingboxes by motpy.
- mosaic_bbox : Display tracking image with mosaic.
### About topic
Run `$ rostopic echo /tracking_data/bounding_boxes` to check bounding_boxes topic
```bash
header:
seq: 464
stamp:
secs: 1619954372
nsecs: 821653734
frame_id: "head_camera"
image_header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
bounding_boxes:
-
probability: 0.783602034603571
xmin: 200
ymin: 103
xmax: 272
ymax: 181
id: 728
class_id: "face"
-
probability: 0.8840379995412154
xmin: 44
ymin: 111
xmax: 176
ymax: 236
id: 3840
class_id: "face"
...
```
## Using Service
- ROS2 version doesn't yet support srv.
## Use with darknet_ros
- motpy_ros can be used in conjunction with [darknet_ros](https://github.com/leggedrobotics/darknet_ros) to provide object tracking that takes advantage of darknet's strengths.
Example launch file : launch/example_darknet.launch.py
## Use with Arduino
- ROS2 version doesn't yet support ros2arduino.
## Reference
- https://github.com/wmuron/motpy
- https://github.com/leggedrobotics/darknet_ros/tree/master/darknet_ros_msgs
## About writer
- Ar-Ray : Japanese student.
- Blog (Japanese) : https://ar-ray.hatenablog.com/
- Twitter : https://twitter.com/Ray255Ar