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openpose_ros

Example ROS catkin package that utilizes the OpenPose library from https://github.com/CMU-Perceptual-Computing-Lab/openpose.

System

Tested on:

  • Ubuntu 18.04
  • ROS Melodic

Installation Steps

  1. Clone OpenPose somewhere not in your catkin_workspace. 
    git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose.git
  2. IMPORTANT: I do not update this repository very frequently and the maintainers of OpenPose tend to change their API frequently, so I can only guarantee that it will work with certain versions of OpenPose. Currently I have updated this ros wrapper to work with commit b1cb2b6. You can use get that version by running the following commands: 
    cd openpose
git checkout b1cb2b6
  3. Install openpose using instructions from here: https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/b1cb2b69cf8c4c288921e48c37f339a64db26f58/doc/installation/0_index.md. Make sure to run sudo make install in the build folder at the end.
  4. Clone this repository into your catkin_workspace/src directory. 
    git clone https://github.com/firephinx/openpose_ros.git
  5. Modify the model_folder line in openpose_ros/src/openpose_flags.cpp to where openpose is installed (line 30). 
    DEFINE_string(model_folder,             "/path/to/openpose/models/",      "Folder path (absolute or relative) where the models (pose, face, ...) are located.");
  6. Modify the image_topic parameter in openpose_ros/launch/openpose_ros.launch to the image_topic you want to process. 
    <param name="image_topic"     value="/camera/image_raw" />
  7. Modify the other parameters in openpose_ros/src/openpose_flags.cpp and openpose_ros/launch/openpose_ros.launch to your liking such as enabling face and hands detection.
  8. Run catkin_make from your catkin_workspace directory.

Potential Installation Issues

  1. If cv_bridge is causing you errors and/or you decide to use OpenCV 3.2+, copy the cv_bridge folder from https://github.com/ros-perception/vision_opencv into your catkin_workspace/src directory.

Running

source catkin_workspace/devel/setup.bash
roslaunch openpose_ros openpose_ros.launch