This is a respository containing documentation and code for a ROS2 pose estimation package.

If running the code for the first time on your device, open a command line console and enter the following command to create a configuration file:

sudo nano /etc/sysctl.d/10-cyclone-max.conf

Paste the following into the file:

# IP fragmentation settings
net.ipv4.ipfrag_time=3  # in seconds, default is 30 s
net.ipv4.ipfrag_high_thresh=134217728  # 128 MiB, default is 256 KiB

# Increase the maximum receive buffer size for network packets
net.core.rmem_max=2147483647  # 2 GiB, default is 208 KiB

Save the file and reboot.

Build the workspace: colcon build --symlink-install

Once that finishes, source the installation files: source install/setup.bash

Then run the demo (make sure you have a webcam attached to /dev/video0): ros2 launch mpipe mpipe_webcam_launch.py

Then view the output using rqt; in another terminal: source /opt/ros/humble/setup.bash rqt

Use the plugins file to visualise Images, there should be a /ose_skeleton topic that can visualise the estimated pose.

If the container fails to build and the log file containes the above error, this is due to a recent update on the host. The podman container searches for the GPU runtime libraries through a predefined configuration file (nvidia.yaml) that locates the libraries on the host. When the drivers are updated, those libraries don't exist anymore and therefore the container can't find them to load the cuda runtime.

To fix, run sudo nvidia-ctk cdi generate --output=/etc/cdi/nvidia.yaml and restart VSCode.