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aoc_hri

Repository with ROS2 packages that cover the human-robot interaction component of the Agri-Opencore project

SETUP

PREREQUISITES:

  • Ubuntu 22.04
  • Ros2 Humble

Packages List

  • Detectors:

    • RGBD_camera :
      • package name: human_rgbd_det_uol
      • contains all the detectors/launch/config for rgbd camera
    • Fisheye_camera:
      • package name: human_fisheye_det_uol
      • contains all the detectors/launch/config for fisheye camera
    • Lidar:
      • package name: human_lidar_det_uol
      • contains all the detectors/launch/config for lidar
    • Camera-Lidar:
      • package name: human_camlidar_det_uol
      • contains all the detectors/launch/config for using lidar + camera (fisheye _ rgbd)
  • Trackers:

    • package name: human_tracker_uol
    • contains all the detectors/launch/config for trackers
  • Visualiser: (part of Tracker)

    • package name: human_visualiser_uol
    • contains all the detectors/launch/config for sending Markers (e.g. bounding box) to visualise on Rviz
  • Rosbag:

    • rosbags here
  • Docker:

    • dockefile here

    Please refer to the README file of each package for detailed information.

Git clone repositories

  1. Create a ROS2 workspace and a source directory (src):
mkdir -p ~/{ROS2_WORKSPACE}/src
  1. In the src directory, clone this [aoc_hri] repository (https://github.com/LCAS/aoc_hri.git) repository:
cd ~/{ROS2_WORKSPACE}/src
git clone [email protected]:LCAS/human_detection_rgbd_camera.git
  1. Additional repository:

    3.1 In the src directory, clone the ultralytics_ros repository. Further, install dependencies and build the workspace:

    cd ~/{ROS2_WORKSPACE}/src
    GIT_LFS_SKIP_SMUDGE=1 git clone -b humble-devel https://github.com/Alpaca-zip/ultralytics_ros.git 
    rosdep install -r -y -i --from-paths .
    python3 -m pip install -r ultralytics_ros/requirements.txt 
    cd ~/{ROS2_WORKSPACE} && $ colcon build
    source ~/.bashrc
    

    Note: make sure Git Large File Storage (LFS) is installed already as it is required by **ultralytics_ros **.

    3.2 In the src directory, install the mmdetection3D repository. Please follow the instruction: https://mmdetection3d.readthedocs.io/en/latest/get_started.html.

  2. Additional information:

    It is common to have this error notice when building the workspace during Step 3:

    CMake Error at CmakeLists.txt:16 (find packages)

    In this case, please try the following methods in order:

    (1) Make sure that you have this package installed:

        ```bash     
        sudo apt install ros-${ROS_DISTRO}-ament-cmake-clang-format
        ```
        
        ```bash
        sudo apt install ros-humble-ament-cmake-clang-format
        ```
    

    (2) Authorise permissions to edit the workspace directory. Try giving read/write permission of the workspace to all users using:

        ```bash
        cd ~/{ROS2_WORKSPACE}
        sudo chmod 777 -R .
        ```
    

    (3) Then build using colcon build in the current directory.

        ```bash
        cd ~/{ROS2_WORKSPACE} && $ colcon build
        source ~/.bashrc
        ```