CHANGELOG.rst

@@ -2,6 +2,25 @@
 Changelog for package homer_gesture_recognition
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.39 (2023-03-14)
+-------------------
+* Adjust to openpose node/msgs update
+* Contributors: Daniel Müller
+
+0.0.38 (2023-03-02)
+-------------------
+* Fixed import of gesture msgs which have been moved from openpose msgs to gesture recognition package
+* Contributors: Daniel Müller
+
+0.0.37 (2023-02-15)
+-------------------
+* Merge branch 'dev/provide_msgs' into 'master'
+  Moved gesture related msgs from homer_openpose_msgs to this package
+  See merge request robbie/homer_gesture_recognition!9
+* Moved gesture related msgs from homer_openpose_msgs to this package
+* Renamed param.yaml to gesture_node.yaml
+* Contributors: Daniel Müller
+
 0.0.35 (2021-02-13)
 -------------------
 * Also install config folder for successful launch file execution

CMakeLists.txt

@@ -9,6 +9,8 @@ project(homer_gesture_recognition)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
 	rospy
+    geometry_msgs
+    homer_openpose_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -45,6 +47,15 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
+add_message_files(
+    FILES
+        Pointing.msg
+        Waving.msg
+        Gestures.msg
+        PersonGesture.msg
+        PersonGestures.msg
+)
+
 ## Generate services in the 'srv' folder
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -54,6 +65,10 @@ catkin_python_setup()
 # )
 
 ## Generate added messages and services with any dependencies listed here
+generate_messages(
+    DEPENDENCIES
+        homer_openpose_msgs
+)
 
 
 ################################################
@@ -90,6 +105,9 @@ catkin_package(
 #  LIBRARIES homer_openpose_msgs
 #  CATKIN_DEPENDS message_generation
    DEPENDS 
+    message_runtime
+    geometry_msgs
+    homer_openpose_msgs
 )
 
 ###########

msg/Gestures.msg

+homer_gesture_recognition/Pointing pointing
+homer_gesture_recognition/Waving waving

msg/PersonGesture.msg

+homer_openpose_msgs/Person3D human_pose
+homer_gesture_recognition/Gestures gestures

msg/PersonGestures.msg

+homer_gesture_recognition/PersonGesture[] person_arr

msg/Pointing.msg

+geometry_msgs/Point[] ray_right
+geometry_msgs/Point[] ray_left 

msg/Waving.msg

+bool is_waving_right
+bool is_waving_left

package.xml

 <?xml version="1.0"?>
 <package format="3">
   <name>homer_gesture_recognition</name>
-  <version>0.0.36</version>
+  <version>0.0.39</version>
   <description>The homer_gesture_recognition package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -43,7 +43,12 @@
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>homer_openpose_msgs</build_depend>
   <exec_depend>rospy</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>homer_openpose_msgs</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

src/homer_gesture_recognition/gesture_node.py

@@ -5,7 +5,9 @@ import numpy as np
 import tf
 from math import pi
 
-from homer_openpose_msgs.msg import HumanPoses, PersonGesture, PersonGestures
+from homer_openpose_msgs.msg import HumanPoses
+from homer_gesture_recognition.msg import PersonGesture, PersonGestures
+
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 from geometry_msgs.msg import Pose, PoseArray, Point, Vector3
@@ -71,7 +73,7 @@ class GestureNode:
                     first_call = False
                 try:
                     msg = rospy.wait_for_message(
-                        "/openpose_node/human_poses", HumanPoses, timeout=5
+                        "/openpose_3d_node/human_poses", HumanPoses, timeout=5
                     )
                     self.human_poses_callback(msg)
                 except Exception as e:

src/homer_gesture_recognition/interfaces.py

@@ -3,7 +3,7 @@ from __future__ import division
 
 import rospy
 import numpy as np
-from homer_openpose_msgs.msg import PersonGestures
+from homer_gesture_recognition.msg import PersonGestures
 from homer_utils.ros_utils import is_topic_advertised
 from homer_utils.geometry_wrapper import GeometryWrapper
 from homer_utils.visualization_utils import publish_marker

src/homer_gesture_recognition/openpose_extractor.py

@@ -3,7 +3,8 @@ import numpy as np
 from math import pi
 
 from std_srvs.srv import SetBool
-from homer_openpose_msgs.msg import HumanPoses, PersonGesture, PersonGestures
+from homer_openpose_msgs.msg import HumanPoses
+from homer_gesture_recognition.msgs import PersonGesture, PersonGestures
 
 from visualization_msgs.msg import Marker
 from geometry_msgs.msg import Point, Vector3