Skeleton tracking

ROS 2 Package for human tracking.

Installation

To install and build the Skeleton Tracking package, follow these steps:

1. Clone the Repository into the 'src' Folder:

   Open a terminal and execute:

   git clone https://github.com/SamueleSandrini/skeleton_trajectory.git -b ros2
   cd src/skeleton_trajectory
   pip install -r requirements.txt

2. Import Dependencies at the Workspace Level: Navigate back to the workspace root and run:

   vcs import src < src/skeleton_trajectory/dependencies.repos

3. Build the Workspace: Use colcon to build the workspace with symbolic links:

   colcon build --symlink-install

Usage

To launch the skeleton tracking system:

1. Configure Camera Topics: Adjust the config.yaml file to match your camera's topic names. For example:

camera_node:
  ros__parameters:
    color_image_topic: "/head_front_camera/rgb/image_raw"
    depth_image_topic: "/head_front_camera/depth_registered/image_raw"
    camera_info_topic: "/head_front_camera/rgb/camera_info"
    frames_approx_sync: false

2. Configure the config.yaml file to set the parameters of the skeleton_filter_node.

skeleton_filter_node:
ros__parameters:
  q_noise: [0.01, 0.01, 0.01, 0.05, 0.05, 0.05, 0.1, 0.1, 0.1]
  r_noise: [0.05, 0.05, 0.1]

  custom_publishers: ["pose_array", "centroid"]
  pose_array:
    module: "skeleton_tracking.custom_publishers.pose_array_publisher.PoseArrayPublisher"
  centroid:
    module: "skeleton_tracking.custom_publishers.centroid_publisher.CentroidPublisher"

Note that you can write you own custom "publisher" to elaborate the skeleton as you prefer and publish the message that you prefer. You just need to inherit from CustomPublisherBase and put add the package.subpackage.module.classname.

3. Run the Launch File:

ros2 launch skeleton_tracking skeleton_tracking_bringup.launch.py

This launch file initializes the necessary nodes for skeleton tracking.

License

This project is licensed under the Apache License 2.0. See the LICENSE file for more details.

Issues

We welcome your feedback and contributions to enhance this project. Feel free to open an issue. Your participation is vital in improving this project, and we appreciate your contributions.

Maintainer

• Samuele Sandrini - samuele.sandrini@polito.it