ros-nice-node

To generate documentation:

cd ros-nice-node/nice_node_py/docs
sphinx-apidoc -f -0 . ../

See https://kanishkvarshney.medium.com/python-documentation-generating-html-using-sphinx-a0d909f5e963 for how to setup auto-generated documentation via Sphinx for other ROS packages.

This repository contains 3 packages that forms a framework on top of ROS2. The goal is to:

• Provide common/base features for nodes
• Centralize utility functions & tools
• Provide a more powerful & easy API

(DEPRECATED) nicepynode

Python utilities and ROS2 node wrapper.

(NEW) nice_node_py

Python ROS2 Node Wrapper inspired by the API of Python web servers and utilities.

(NEW) nicefaces_utils_py

Message conversion and other utilities regarding message types.

(TBD) nicecppnode

C++ utilities and ROS2 node wrapper. However, I am not familiar enough with the C++ api (plus my C++ is quite rusty), to judge whether this would actually be necessary.

nicefaces

Utility message, service & action types that cannot be found in https://github.com/ros2/common_interfaces or other similar utility interface packages. Certain aspects of DDS Design means some programmer comforts are unavailable like template/wrapper types... (Sorry, no monads, no matter how much you feel they make sense here)

Yes, I am aware http://wiki.ros.org/vision_msgs exists. But I already wrote these, and mine are more lax.

I created another series, (name)s, that splits out each array in order to minimize the looping needed in Python... (Yes the performance hit is real when dealing with 10+ poses each with 133 keypoints)

BBox2D

Interface for a 2D bounding box. It may be used as a replacement for sensor_msgs/RegionOfInterest. Features:

• XYXY, XYWH & CBOX (XY of centre + width & height) mode
• Using normalized (relative) coordinates

BBox2DArray

It exists.

TrackData

Interface for tracking detections (e.g. ObjDet2D, Wholebody, etc). Should contain additional data (i.e. Feature Embeddings) for associating tracks across frames. TrackData also has an id property which contains the track id of the object (an empty string indicates the object is not being tracked).

ProfilingData

Profiling and timing stuff.

ObjDet2D

Interface for a 2D Object Detection from most common 2D Object Detection Computer Vision models. Features:

• header property for synchronization via message_filters
• Optional feature property for associating identity using identifiers such as feature vectors

ObjDet2DArray

Array of ObjDet2D for convenience. Features:

• header property for synchronization
• Timestamps for when inference started and ended for profiling

WholeBody

Interface for COCO WholeBody annotations. Features:

• header property for synchronization
• Uses geometry_msgs/Point for 2D/3D interoperability

WholeBodyArray

Array of WholeBody annotations. Features:

• header property for synchronization
• Timestamps for when inference started and ended or profiling

AnyLabel

Escape hatch interface for annotations via encoding as a string. Features:

• header property for synchronization

AnyLabelArray

Array of AnyLabel for convenience. Features:

• header property for synchronization
• Timestamps for when inference started and ended or profiling