object_with_region

Description

object_with_region is a ROS 2 package that enriches 3D object detections with semantic region information. This node takes three-dimensional object detections and assigns them to the spatial region where they are located (e.g., "kitchen", "living room", "bedroom"), facilitating semantic navigation and spatial reasoning in mobile robotics.

Features

• 3D Detection Integration: Processes vision_msgs/Detection3DArray messages to add region context.
• Semantic Region Querying: Uses a semantic navigation service to determine which region each detected object is in.
• Label Resolution: Converts numeric class IDs to human-readable class names.
• Configurable Mode: Allows enabling/disabling region querying via parameters.
• TF2 Transformation Support: Handles transformations between different reference frames.

Architecture

The node acts as an intermediary between a 3D object detector and high-level reasoning systems:

┌────────────────────┐         ┌──────────────────────┐         ┌─────────────────────┐
│  3D Detector       │────────▶│  object_with_region  │────────▶│  High-Level         │
│  (Detection3DArray)│         │      Node            │         │  System             │
└────────────────────┘         └──────────────────────┘         └─────────────────────┘
                                         │
                                         │ (service call)
                                         ▼
                               ┌──────────────────────┐
                               │  Region Service      │
                               │  (GetRegionName)     │
                               └──────────────────────┘

Dependencies

ROS 2 Dependencies

• rclcpp: ROS 2 C++ client library
• vision_msgs: Standard vision messages for ROS
• std_msgs: Standard ROS messages
• geometry_msgs: Geometry messages
• tf2_ros: Transformation library
• tf2_geometry_msgs: Geometry conversions for TF2
• tf2_sensor_msgs: Sensor message conversions for TF2
• nav2_util / nav2_ros_common: Nav2 utilities (depending on ROS version)
• semantic_navigation_msgs: Custom messages for semantic navigation

Installation

1. Navigate to your ROS 2 workspace:

cd ~/colcon_ws/src

2. Clone the repository (if you haven't already):

git clone https://github.com/grupo-avispa/object_with_region.git

3. Install dependencies:

cd ~/colcon_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build the package:

colcon build --packages-select object_with_region --symlink-install

5. Source the environment:

source install/setup.bash

Usage

Basic Launch

To launch the node with default configuration:

ros2 launch object_with_region default.launch.py

Parameters

The node accepts the following parameters (defined in params/params.yaml):

Parameter	Type	Default Value	Description
detections_3d_topic	string	/object_detection/detections_3d	Input topic with 3D detections
label_info_topic	string	/smarthome/object_detection/label_info	Topic with class label information
objects_with_region_topic	string	/object_detection/objects_with_region	Output topic with objects enriched with region information
get_region_name_service	string	/get_region_name	Service name to get the region from a position
get_region_enabled	bool	true	Enable/disable region querying (useful for debugging)

Topics

Subscriptions

• detections_3d_topic (vision_msgs/Detection3DArray)

  • 3D object detections from a detector

• label_info_topic (vision_msgs/LabelInfo)

  • Meta-information about object classes (ID to name mapping)

Publishers

• objects_with_region_topic (object_with_region/ObjectRegion3DArray)
  • Object detections enriched with semantic region information

Services

Client

• get_region_name_service (semantic_navigation_msgs/GetRegionName)
  • Service used to query the region name given a 3D position

Custom Messages

ObjectRegion3D

Represents a detected object with its associated region:

std_msgs/Header header
vision_msgs/Detection3D object
string region

ObjectRegion3DArray

Array of objects with regions:

std_msgs/Header header
ObjectRegion3D[] objects

License

This package is licensed under the Apache 2.0 license. See the LICENSE file for more details.

Authors

• Óscar Pons Fernández - @opfernandez
• Grupo Avispa, DTE, Universidad de Málaga

References

• vision_msgs: Standard vision messages for ROS 2
• Nav2: Navigation framework for ROS 2
• TF2: ROS 2 transformation system