OpenPose ROS wrapper for Human-Robot Collaboration

A collection of ROS catkin packages that utilize the OpenPose library from https://github.com/CMU-Perceptual-Computing-Lab/openpose in order to detect human presence near a robotic arm workspace and provide the robot's motion planner with the input which is necessary to guarantee safe Human-Robot Collaboration.

Contents

• openpose_ros: The core functionality of the OpenPose ROS wrapper. Take a stream of images and in each image perform human pose recognition, using a human pose model (COCO_18, BODY_25). Describe each detected human with a skeleton made up of certain detected keypoints.
• openpose_ros_msgs: The messages used to publish the human skeletons of the OpenPose output to a ROS environment.
• openpose_ros_receiver: Receive the OpenPose output's skeletons and transform their keypoints coordinates from the camera coordinate frame to the robot coordinate frame.
• openpose_ros_receiver_msgs: The messages used to publish the openpose_ros_receiver output (human body skeletons with keypoint coordinates in the robot coordinate frame) to a ROS environment.
• openpose_ros_avoid: Receive human body skeletons based on the BODY_25 human pose model and insert them as obstacles in a robotic arm's workspace.

System

Tested on:

• Software:
  • Ubuntu 14.04 / Ubuntu 16.04
  • ROS Indigo / Kinetic
  • MoveIt! 1.0.0
  • CUDA 8.0
  • cuDNN 5.1 / cuDNN 6.0
  • OpenCV 3.3 / OpenCV 3.4
  • ZED SDK 2.7.1 (should do fine with any version ≥ 2.3)
• Hardware:
  • UR3 robotic arm
  • Stereolabs ZED camera
  • ASUS Xtion camera
  • Orbbec Astra Pro camera