ROS 2 Person Detection

This project implements a human detection by an artificial neural network based on ROS 2.
The available detectors are

• Person-Detection by SusmithKrishnan
• Detectron2 by Facebook

Notice: All data is included in this repository and the installation of those networks is executed during the following instructions.
Notice: For the online person detection a cognex camera is required but it is also possible to use the detection part on offline images and videos.

Requirements

Ubuntu 20.04, Python 3.8+
Please make sure that you have installed all the required components before building the project.

ROS 2 Foxy

• Go here for installation of ROS 2 Foxy. Make sure to install the ros-foxy-desktop package.
• If this is the first distribution of ROS that you installed on your PC, please execute (if not already done in the ROS Foxy installation):
  echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
• If you already installed a ROS distribution on your PC, go to your home directory and check the file ".bashrc" for the line
  "source /opt/ros/.../setup.bash"
  and replace the distribution with "foxy". If you can't see the file ".bashrc" in your home directory press "Strg + H".

General Packages

• For using rosdep:
  sudo apt-get install python3-rosdep
• For using colcon:
  sudo apt-get install python3-colcon-common-extensions
• For the different detectors:
  sudo apt-get install python3-venv
• For the usage of git:
  sudo apt-get install git
• For linking the env to python3:
  sudo apt-get install python-is-python3

Setting up the Project

1. Create new development workspace
   mkdir -p ~/dev_ws/src
2. Go to the source folder of your workspace
   cd ~/dev_ws/src
3. Clone the repository
   git clone <link_to_repo>
4. Go to models
   cd ros2_person_detection/detection_driver/models/
5. Create a virtual environment
   python3 -m venv ~/venv
6. Enter the virtual environment
   source ~/venv/bin/activate
7. Install pip wheels
   pip3 install wheel
8. Install requirements
   pip3 install -r requirements.txt
9. Install Detectron2
   pip3 install -e detectron2
10. Exit from virtual environment
    deactivate
11. Go back to top level
    cd ~/dev_ws
12. Build the project
    colcon build --symlink-install

How to Run the Project

1. Check the configurations inside the packages
   package_name -> configs

2. If config was changed make sure to rebuild. You can avoid this by copying a config file to your home directory and use the param_file launch parameter (equivalent to venv) to refer to this config file.
   cd ~/dev_ws && colcon build --symlink-install

3. Source the workspace
   source ~/dev_ws/install/setup.bash

4. Run the Desired Programm:

   Available Launch Parameters:

   • venv -> absolute path to the python interpreter of your virtual environment
   • param_file -> absolute path to the config file that should be used

   Attention:

   • Make sure to replace /path/to/ in the venv launch parameter with the absolute path to your virutal environment python interpreter.
   • The venv parameter for the Cognex driver is only required if OpenCV is not installed on your system.

   Programm	Requirements	Command
   Person Detection	Connected Cognex camera, Check the config file person_detection/configs/default.yaml, Rebuild if necessary	ros2 launch person_detection person_detection.launch.py venv:=/path/to/venv/bin/python
   Person Detection Testing	No Cognex is required, Set the test_data parameter in person_detection/configs/test.yaml, Rebuild	ros2 launch person_detection person_detection_test.launch.py venv:=/path/to/venv/bin/python
   Cognex Camera Driver	Connected Cognex camera, Check the config file cognex_driver/configs/default.yaml, Rebuild if necessary	ros2 launch cognex_driver cognex_driver.launch.py venv:=/path/to/venv/bin/python
   Detection Driver	No Cognex required, Check the config file detection_driver/configs/default.yaml, Rebuild if necessary	ros2 launch detection_driver detection_driver.launch.py venv:=/path/to/venv/bin/python

Trouble Shooting

• If there are errors about missing modules like cv_bridge or similar. Make sure that you installed the ros-foxy-desktop and not the ros-foxy-base.
• If there are errors about missing modules of the detetction_driver you might have forgot the venv parameter at the launch command.