depthai-ros mobilenet_publisher - success and found the class list

Also: Please tell me how to type embedded underscores without being turned into italicized text??

I am stunned - I managed:

• to get the ROS 2 Humble docker depthai-ros container running,
  and networked with my bot and my desktop visualization rviz2

• to launch the "mobilenet publisher" example (successfully)

• visualize the /color/image topic in rviz2 - WOW, WOW, WOW that is exciting
  Confirmed image of bicycle or person are centered in detection field of view

• Echo the /color/mobilenet_detections topic - Another wow!
  results:

  • hypothesis:

    class_id: '15'

    score: 0.849609375

    results:

  • hypothesis:

    class_id: '2'

    score: 0.9404296875

• BUT - where is the class id list? (Docs do not give a clue… I FOUND IT…)

/depthai/resources/nn/mobilenet-ssd/mobilenet-ssd.json
"labels":

[
            "background",
            "aeroplane",
            "bicycle",
            "bird",
            "boat",
            "bottle",
            "bus",
            "car",
            "cat",
            "chair",
            "cow",
            "diningtable",
            "dog",
            "horse",
            "motorbike",
            "person",
            "pottedplant",
            "sheep",
            "sofa",
            "train",
            "tvmonitor"
        ]

So 2 is the bicycle I put in front of the camera, and 15 is the person I put in front of the camera.

Link might work

There was one really bad problem I did not realize at the time: running the depthai-ros docker container killed the other ros container that runs my robot's control program. I found my robot had executed a safety shutdown to protect its battery when it couldn't get back on the dock.