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Repository Summary
| Checkout URI | https://github.com/nvidia-ai-iot/ros2_trt_pose.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2020-11-17 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| pose_msgs | 0.0.0 |
| ros2_trt_pose | 0.0.0 |
README
ros2_trt_pose
In this repository, we build ros2 wrapper for trt_pose for real-time pose estimation on NVIDIA Jetson.
Package outputs:
- Pose message
- Pose detection image message
- Visualization markers
- Launch file for RViz
Requirements:
- ROS 2 Eloquent:
- trt_pose
-
Dependencies for trt_pose
- [Install trt_pose] (https://github.com/NVIDIA-AI-IOT/trt_pose#step-2—install-trt_pose)
-
Dependencies for trt_pose
Build:
- Clone repository under ros2 workspace
$ cd ros2_ws/src/
$ git clone https://github.com/NVIDIA-AI-IOT/ros2_trt_pose.git
- Install requirements using
rosdep
$ rosdep install --from-paths src --ignore-src --rosdistro eloquent -y
- Build and Install ros2_trt_pose 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)
- Input Images are captured using
image_toolspackage
``` ros2 run image_tools cam2image
- Keep
```trt_pose
``` related model files in
```base_dir
```, it should include:<br/>
- Model files for resnet18 or densenet121 [download link](https://github.com/NVIDIA-AI-IOT/trt_pose#step-3---run-the-example-notebook)
- Human Pose points [json file](https://github.com/NVIDIA-AI-IOT/trt_pose/blob/master/tasks/human_pose/human_pose.json)
- For running you can use Launch file or manually run each node: <br/>
- Run using Launch file <br/>
$ ros2 launch ros2_trt_pose pose-estimation.launch.py
*Note: Update rviz file location in launch file in*
```launch/pose_estimation.launch.py
``` <br/>
- Run
```ros2_trt_pose
``` node <br/>
$ ros2 run ros2_trt_pose pose-estimation --ros-args -p base_dir:='<absolute-path-to-base_dir>'
- For following use separate window for each:<br/>
- See Pose message <br/>
$ source install/local_setup.sh
$ ros2 run rqt_topic rqt_topic
- Visualize markers <br/>
$ ros2 run rviz2 rviz2 launch/pose_estimation.rviz
```
Other related ROS 2 projects
-
ros2_torch_trt : ROS2 Real Time Classification and Detection
-
ros2_deepstream : ROS2 nodes for DeepStream applications
-
ros2_jetson_stats : ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources
CONTRIBUTING
No CONTRIBUTING.md found.
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