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open-rmf / rmf_obstacle

Packages that infer the presence of obstacles from sensor inputs.
Apache License 2.0
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Added rmf_human_detector node #3

Closed ahcorde closed 2 years ago

ahcorde commented 2 years ago

Related with this PR https://github.com/open-rmf/rmf_obstacle_detectors/pull/1

Open a new PR to address the feedback and follow up the package

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 https://github.com/open-rmf/rmf_demos/pull/154. Then:

ros2 launch rmf_human_detector human_detector_launch.py
ahcorde commented 2 years ago

@Yadunund as you are the original reviewer, if don't mind to take another look. I think I address all your comments

PranayShirodkar commented 2 years ago

Great to see this merged! Thank you @Yadunund @ahcorde!