Introduction

This is a demo repo to show how to utilize object detection of OpenVINO in ROS 2.

Build

• You should install ros2_openvino_toolkit from Intel first.
• Source ROS 2 foxy and ros2_openvino_toolkit.
• After source ros2_openvino_toolkit, build code

mkdir -p ~/ros2_openvino_example_ws/src
cd ~/ros2_openvino_example_ws/src
git clone https://github.com/Adlink-ROS/vino_integration_demo -b foxy-devel
cd ~/ros2_openvino_example_ws
colcon build --symlink-install

Usage

detected_objects to cmd_vel

The ROS 2 node here will transform topic /detected_objects from OpenVINO into /cmd_vel.

While detecting different animals, the robot will do different actions.

• cat: Move right
• dog: Move left
• cow: Move forward
• bird: Move backward

# Run your robot first.
# Source ROS 2 foxy and ros2_openvino_toolkit.
cd ~/ros2_openvino_example_ws
source install/local_setup.bash
ros2 run vino_integration vino_integration

detection_objects to string

The ROS 2 node will transform topic /detected_objects to String type.

This will be used while bridging ROS 1 since bridge can't transmit topic /detected_objects.

# Source ROS 2 foxy and ros2_openvino_toolkit
cd ~/ros2_openvino_example_ws
source install/local_setup.bash
ros2 run vino_integration vino_transform