Work in progress - The message format will change in the future, do not rely on this package!

ROS DetectNet integration

Integrates DetectNet models (eg. generated with DIGITS) with ROS, generating messages with position and confidence of detection.

Requirements

• ROS (tested on kinetic)

• Caffe with GPU support

• CUDA

Installation

This repository should be cloned to the src directory of your workspace. Alternatively, the following .rosinstall entry adds this repository for usage with wstool:

- git:
    local-name: detectnet
    uri: https://github.com/ThundeRatz/ros_detectnet.git

Setup

Copy your model deploy.prototxt and a snapshot of the network's weights as snapshot.caffemodel to the data folder.

ROS Topics

Raw images are received in the image topic and results are published as sensor_msgs/RegionOfInterest messages at detectnet. This will change in the future to a custom message with more information, such as confidence.

For example, the following launch file can be used to map a images from usb_cam to detectnet:

<launch>
  <group ns="vision">
    <remap from="image" to="usb_cam/image_raw" />
    <node pkg="usb_cam" name="usb_cam" type="usb_cam_node" required="true" />
    <node pkg="detectnet" name="detectnet" type="detectnet_node" required="true" />
  </group>
</launch>

Contributors

Written by the ThundeRatz robotics team.

Caffe code is based on ros_caffe, which provides ROS integration with Caffe for image classification.