Repository with ROS2 packages that cover the human-robot interaction component of the Agri-Opencore project
- Ubuntu 22.04
- Ros2 Humble
-
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)
- RGBD_camera :
-
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.
- Create a ROS2 workspace and a source directory (
src
):
mkdir -p ~/{ROS2_WORKSPACE}/src
- 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
-
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. -
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 ```