ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent hand_pose_msgs ros2_trt_pose_hand

Repository Summary

Description ROS2 package for trt_pos_hand, "Real-time hand pose estimation and gesture classification using TensorRT"
Checkout URI https://github.com/nvidia-ai-iot/ros2_trt_pose_hand.git
VCS Type git
VCS Version main
Last Updated 2021-02-08
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags real-time gesture-recognition jetson hand-pose ros2-eloquent
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
hand_pose_msgs 0.0.0
ros2_trt_pose_hand 0.0.0

README

ros2_trt_pose_hand

In this repository, we build ros2 wrapper for 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:

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:
  • Method 1:
    • Input Images are captured using image_tools package

``` ros2 run image_tools cam2image

    - Run 
```ros2_trt_pose
``` node <br/>
        
    $ ros2 run ros2_trt_pose_hand  hand-pose-estimation --ros-args -p base_dir:='<absolute-path-to-base_dir>'
    - Visualize markers <br/>
    
$ ros2 run rviz2 rviz2 launch/hand_pose.rviz
- Method 2: Use Launch file to each node: <br/>

    - Run using Launch file <br/>
    
$ 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
``` <br/>


- For following use separate window for each:<br/>
    - See Pose message <br/>
    
$ source install/local_setup.sh
$ ros2 run rqt_topic rqt_topic

```

CONTRIBUTING

No CONTRIBUTING.md found.

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent

ros2_trt_pose_hand repository

real-time gesture-recognition jetson hand-pose ros2-eloquent