https://github.com/nvidia-ai-iot/ros2_trt_pose_hand
ROS2 package for trt_pos_hand, "Real-time hand pose estimation and gesture classification using TensorRT"
https://github.com/nvidia-ai-iot/ros2_trt_pose_hand
gesture-recognition hand-pose jetson real-time ros2-eloquent
Last synced: 2 months ago
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ROS2 package for trt_pos_hand, "Real-time hand pose estimation and gesture classification using TensorRT"
- Host: GitHub
- URL: https://github.com/nvidia-ai-iot/ros2_trt_pose_hand
- Owner: NVIDIA-AI-IOT
- License: mit
- Created: 2021-02-08T21:20:24.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2021-02-08T21:26:25.000Z (over 4 years ago)
- Last Synced: 2025-06-28T08:07:54.612Z (3 months ago)
- Topics: gesture-recognition, hand-pose, jetson, real-time, ros2-eloquent
- Language: Python
- Homepage:
- Size: 304 KB
- Stars: 17
- Watchers: 3
- Forks: 7
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# ros2_trt_pose_hand
In this repository, we build ros2 wrapper for [trt_pose_hand](https://github.com/NVIDIA-AI-IOT/trt_pose_hand) for Real-time hand pose estimation and gesture classification using TensorRT on NVIDIA Jetson Platform.
## Package outputs:
- Hand Pose message with 21 key-points
- Hand Pose detection image message
- `std_msgs` for gesture classification with 6 classes [fist, pan, stop, fine, peace, no hand]
- Visualization markers
- Launch file for RViz
## Requirements:
- ROS 2 Eloquent:
- [Install Instructions](https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Development-Setup/)
- trt_pose
- [Dependencies for trt_pose](https://github.com/NVIDIA-AI-IOT/trt_pose#step-1---install-dependencies)
- [Install trt_pose](https://github.com/NVIDIA-AI-IOT/trt_pose#step-2---install-trt_pose)
- Gesture Classification
- scikit-learn ```$ pip3 install -U scikit-learn```
## Build:
- Clone repository under ros2 workspace
```
$ cd ros2_ws/src/
$ git clone https://github.com/NVIDIA-AI-IOT/ros2_trt_pose_hand.git
```
- Install requirements using ```rosdep```
```
$ rosdep install --from-paths src --ignore-src --rosdistro eloquent -y
```
- Build and Install ros2_trt_pose_hand package
```
$ colcon build
$ source install/local_setup.sh
```
## Run
- Change Power Mode for Jetson
``` sudo nvpmodel -m2 ``` (for Jetson Xavier NX)
``` sudo nvpmodel -m0 ``` (for Jetson Xavier and Jetson Nano)
- Keep ```trt_pose_hand``` related model files in ```base_dir```, it should include:
- Model files for resnet18 [download link](https://drive.google.com/file/d/1NCVo0FiooWccDzY7hCc5MAKaoUpts3mo/view?usp=sharing)
- Hand Pose points [json file]()
- Gesture Classification classes [json file]()
- Gesture Classification model [included in git]()
- Method 1:
- Input Images are captured using ```image_tools``` package
``` ros2 run image_tools cam2image ```
- Run ```ros2_trt_pose``` node
```
$ ros2 run ros2_trt_pose_hand hand-pose-estimation --ros-args -p base_dir:=''
```
- Visualize markers
```
$ ros2 run rviz2 rviz2 launch/hand_pose.rviz
```
- Method 2: Use Launch file to each node:
- Run using Launch file
```
$ ros2 launch ros2_trt_pose_hand hand-pose-estimation.launch.py
```
*Note: Update rviz file location in launch file in* ```launch/hand_pose_estimation.launch.py```
- For following use separate window for each:
- See Pose message
```
$ source install/local_setup.sh
$ ros2 run rqt_topic rqt_topic
```
## Other related ROS 2 projects
- [ros2_jetson webpage](https://nvidia-ai-iot.github.io/ros2_jetson/)
- [ros2_trt_pose](https://github.com/NVIDIA-AI-IOT/ros2_trt_pose)
- [ros2_torch_trt](https://github.com/NVIDIA-AI-IOT/ros2_torch_trt) : ROS2 Real Time Classification and Detection
- [ros2_deepstream](https://github.com/NVIDIA-AI-IOT/ros2_deepstream) : ROS2 nodes for DeepStream applications
- [ros2_jetson_stats](https://github.com/NVIDIA-AI-IOT/ros2_jetson_stats) : ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources