open-rmf / rmf_obstacle

Packages that infer the presence of obstacles from sensor inputs.

Apache License 2.0

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add rmf_human_detector #1

Closed PranayShirodkar closed 2 years ago

PranayShirodkar commented 2 years ago

rmf_human_detector

ROS 2 node that subscribes to sensor_msgs::Image messages published by a monocular camera and publishes the detections over /rmf_obstacles as rmf_obstacle_msgs::Obstacles message. The node runs YOLOv5 to detect the presence of humans as obstacles.

Launch human detector

First launch rmf demos hotel world with a camera in it from this PR. Then:

ros2 launch rmf_human_detector human_detector_launch.py

ahcorde commented 2 years ago

Closing this PR in favour of this other one https://github.com/open-rmf/rmf_obstacle_detectors/pull/3