ros_mobilenet

ROS Package for MobileNet SSD Object Detector. This doesn't require a GPU to run.
YouTube link: here

Node

The topic names can be changed in the param.yaml

Subscribed Topics

1. /webcam/image_raw (sensor_msgs/Image)
   The input RGB image stream

Published Topics

1. /mobilenet/image_raw (sensor_msgs/Image)
   The resultant image after being passed through the detector.
   

2. /mobilenet/prediction (ros_mobilenet/Prediction)
   Custom message that contains the class, prediction score, & the cordinates of the bounding box

Services

1. is_detect (std_srv/SetBool)
   Switches on or off the detector.

Requirements

Run bash requirements.sh

Usage

roslaunch ros_mobilenet model.launch
rosservice call /is_detect "data: false/true" to set the detection off/on