ROS2 Computer Vision messages and services for Kenning

Copyright (c) 2022-2024 Antmicro

Repository containing messages, services and actions for ROS 2 integration with the Kenning framework for computer vision applications.

Building the package

This package was tested with the ROS 2 Humble environment - follow the installation instructions for your system.

After installing ROS 2, follow the steps below to build the project:

• Clone the repository and go to the newly created directory:

  git clone https://github.com/antmicro/ros2-kenning-computer-vision-msgs.git
  cd ros2-kenning-computer-vision-msgs/

• Launch the configuration script (e.g. setup.sh) from ROS 2 to prepare the environment for building ROS 2 packages. Assuming that ROS 2 was installed in the /opt/ros directory, run:

  source /opt/ros/setup.sh
  

• Build the project:

  colcon build

Then, the package can be included in the target project using CMake with:

find_package(kenning_computer_vision_msgs REQUIRED)

...

ament_target_dependencies(dependent_target
    ...
    kenning_computer_vision_msgs
)

Message types defined in the package

• SegmentationMsg - a message containing Instance Segmentation (as well as object detection) data for a given frame.
• MaskMsg - a message representing a single mask in the SegmentationMsg message.
• BoxMsg - a message representing a single bounding box in the SegmentationMsg message.

Service types defined in the package

• ManageCVNode - service for configuring computer vision ROS 2 nodes based on the Kenning framework.
• SegmentCVNodeSrv - service for performing instance segmentation on a batch of images.

Action types defined in the package

• SegmentationAction - action to perform instance segmentation on a batch of images.