Merge branch 'pose-tracking' into connection-lost-behavior

rove.repos

@@ -1,4 +1,8 @@
 repositories:
+  capra_pose_tracking:
+    type: git
+    url: https://github.com/clubcapra/capra-pose-tracking
+    version: master
   ovis_ros2:
     type: git
     url: https://github.com/clubcapra/ovis_ros2

src/rove_zed/config/zed_body_trck.yaml

@@ -7,7 +7,7 @@
             body_format: "BODY_18" # 'BODY_18','BODY_34','BODY_38','BODY_70'
             allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage
             max_range: 20.0 # [m] Defines a upper depth range for detections
-            body_kp_selection: "UPPER_BODY" # 'FULL', 'UPPER_BODY'
+            body_kp_selection: "FULL" # 'FULL', 'UPPER_BODY'
             enable_body_fitting: false # Defines if the body fitting will be applied
             enable_tracking: true # Defines if the object detection will track objects across images flow
             prediction_timeout_s: 3.0 # During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions

src/rove_zed/launch/zed_body_trck.launch.py

@@ -8,7 +8,7 @@
 
 def generate_launch_description():
 
-    camera_model = 'zedm'
+    camera_model = 'zed2i'
 
     pkg_zed_wrapper = get_package_share_directory('zed_wrapper')
     launch_file_path = os.path.join(pkg_zed_wrapper, 'launch', 'zed_camera.launch.py')
@@ -22,7 +22,7 @@ def generate_launch_description():
             launch_description_source=launch_file_path,
             launch_arguments=[ # `ros2 launch rove_zed zed_body_trck.launch.py --show-arguments`
                 ['camera_model', camera_model],
-                ['camera_name', camera_model],
+                ['camera_name', 'zed'],
                 ['ros_params_override_path', config_override_path]
             ]
         )