Human and object detection with Intel D435 Depth Camera is applied by using gb_visual_detection_3d package, which build on top of darknet_ros package.
- https://github.com/leggedrobotics/darknet_ros (
Mainbranch since it is alreadyNoetic) - https://github.com/IntelligentRoboticsLabs/gb_visual_detection_3d/tree/noetic (
Noeticbranch) - https://github.com/IntelligentRoboticsLabs/gb_visual_detection_3d_msgs/tree/melodic (
Melodicbranch) - https://www.youtube.com/watch?v=JvAMI9OxQDU
This project is developed for Ubuntu 20.04 with ROS Noetic. Be sure your system has the same configuration. You can check the following links to install them:
Ubuntu 20.04setup guide link: https://releases.ubuntu.com/focal/ROS Noeticsetup guide link: https://wiki.ros.org/noetic/Installation/Ubuntu
It is required that the ROS Noetic should be sourced in each terminal to run the simulation as mentioned in the ROS Noetic setup guide link. To do that,
source /opt/ros/noetic/setup.bash
should be sourced in each terminal. To make it easier, it can be added to the .bashrc file for automatic sourcing. Details can be found in the ROS Noetic setup guide link. Sourcing ROS Noetic will no longer be mentioned in further steps.
Bonus: If you have a different Linux or ROS distro than the specified requirements, you may prefer to use a Docker container. To do that, check the docker folder.
To have a clear installation, updating and upgrading your system is recommended.
sudo apt-get update
sudo apt-get upgrade
For the installation of packages, basic tools are required.
sudo apt install git apt-utils python3-catkin-tools wget libtool
Basic ROS packages are required for the project.
sudo apt install ros-noetic-cv-bridge ros-noetic-image-transport ros-noetic-tf ros-noetic-ddynamic-reconfigure ros-noetic-diagnostic-updater
Realsense2 is required for the Intel D435 Camera.
sudo apt install ros-noetic-realsense2-camera ros-noetic-realsense2-description ros-noetic-rgbd-launch
Open a terminal (will be mentioned as T1) and create a directory preferably in the home location as
mkdir -p sabes_ws
cd sabes_ws
Clone the project repository (T1)
git clone git@github.com:cemkucukgenc/darknet_ros_3D_v2.git
To build the project in sabes_ws/darknet_ros_3D_v2/catkin_ws (T1)
cd darknet_ros_3D_v2/catkin_ws
catkin build
To run the camera driver (T1)
source /sabes_ws/darknet_ros_3D_v2/catkin_ws/devel/setup.bash
roslaunch realsense2_camera rs_rgbd.launch
To run the project (T2)
source /sabes_ws/darknet_ros_3D_v2/catkin_ws/devel/setup.bash
roslaunch darknet_ros_3d darknet_ros_3d.launch
To see the output in the ROS topic (T3)
source /sabes_ws/darknet_ros_3D_v2/catkin_ws/devel/setup.bash
rostopic echo /darknet_ros_3d/bounding_boxes
Bonus: Bookmarked issue pages that helped me to debug