ROS 2 - OpenCV interoperability show case package

ROS 2 demo package to illustrate interoperability with OpenCV.
It was tested with ROS 2 Humble but should also work with other distribution since no tweaks were added to make sure anyone can use it.
This package provides two nodes:

• CameraMockerNode: loading a MPEG4 video with OpenCV and publishing its image in image_provider topic
• DataProcessorNode: susbscribing to image_provider topic and processing received image with OpenCV object detection then publishing processed image in processed_image topic

What to expect

This package provides a launch file to automatically launch the two nodes described above, one publishing an image to image_provider and a second subscribing to this topic and as callback performs YOLOv5 object detection with OpenCV dnn then publishes the result in the processed_image topic.
The animation below illustrate the expected behavior

How to use

Go into your ROS2 workspace

cd ~/ros2_ws/src

Clone the repository

git clone https://github.com/BBO-repo/ros2-opencv.git

Return to your workspace folder and rebuild your workspace

cd ~/ros2_ws
colcon build --symlink-install

Source your install/setup.bash

source install/setup.bash

Launch the package launch file

ros2 launch src/ros2-opencv/launch/ros2-opencv.launch.xml rviz_config:=src/ros2-opencv/config/ros2_opencv.rviz yolov5_file_path:=src/ros2-opencv/assets/yolov5s.onnx  video_path:=src/ros2-opencv/assets/street-walk.mp4