What is this???

ros-openpose publish joint coordinate.
But it is not suitable for some machine learning model.
So, this package convert ros-openpose topic to angle topic.

qiita

requirement

openpose(**coco weight!!**)
ros-openpose

How to use

$ chmod +x scripts/main.py
$ roslaunch ros_openpose_joint_converter all.launch 

In default, missing value is 0. If you want to change missing value, please eddit launch file. You will be change it so eazy;)

Broadcast

• Topic /joint_angle

std_msgs/Int32MultiArray[] persons
uint32 num

• Example

Two person.
Zero mean missing value.

persons: 
  - 
    layout: 
      dim: []
      data_offset: 0
    data: [22, 0, 0, 56, 76, 0, 25, 29, 1, 0, 0, 0, 0, 34, 0, 0]
  - 
    layout: 
      dim: []
      data_offset: 0
    data: [40, 49, 4, 41, 52, 3, 10, 37, 10, 41, 8, 0, 0, 8, 0, 0]
num: 2