Person Following Codebase

Software Development Project

Base code for ROS2 based person following robot involving RGB-D camera, laser scanner

• Milestone Presentations
  
• API Architecture
• User Test Cases

Technologies

• Robot Platform: Robile3
• OS: Ubuntu 22.04 LTS
• Middleware: ROS2 Humble
• Hardware: Intel Realsense D455, Hokuyo URG laser scanner
• Libraries: OpenCV, numpy, mediapipe

Setup Installation

Prerequisites

• opencv
• mediapipe
• pyrealsense2
• Install ROS2 Humble

1. Clone this repo in your workspace_name/src directory:

https://github.com/HBRS-SDP/ws23-person-following/

2. Install the dependencies

sudo apt install python3-dev python3-pip python3-numpy build-essential libgtk-3-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev gfortran openexr libatlas-base-dev
sudo apt install libopencv-dev python3-opencv
pip3 install opencv-python
pip3 install mediapipe

3. Build the workspace using colcon build.

To set up the workspace in the robot follow the instructions in the below link:

(Workspace setup in robot here)

Before running any launch files. Download the file robot_realsense.launch.py from this repo and put it inside the launch folder in the robot's ROS workspace for example:

ros2_ws/src/robile/launch

To publish to the respective topics from the robot.

Run the below commands in the robot to start the topics:

First set the ros distro to ros humble then,

cd ros_ws/ 
source install/local_setup.bash
ros2 launch robile_bringup robot_realsense.launch.py 

Launch file to check the functionality of the realsense camera.

To launch pose estimation using Realsense camera:

ros2 launch pose_estimator realsense_pose_estimator.launch.py 

Launch Follow behaviour

To launch the behaviour to follow person:

ros2 launch pose_estimator follow_person.launch.py

NOTE: The follow behaviour does not work, if the realsense camera is not connected