Visualising detections in ROS

flash

Does anybody know how to view the output of object detections in ROS 2? I followed these steps:

run the camera detector module: ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE
check that the detections are publishing: ros2 topic echo /color/mobilenet_detections
visualise detections, topic remapping: ros2 launch depthai_filters example_det2d_overlay.launch.py /nn/detections:=/color/mobilenet_detections rgb/preview/image_raw:=/color/image
fix X*_LINK_DEVICE_NOT_FOUND error by updating udev rules: luxonis/depthai518
run rqt: rqt

The image and bounding boxes are still not showing.

I found this visualiser package for ROS 2 ros2/detectionvisualizer which will output a new topic to visualise with rqt. Is this what everyone is using?

The depthai_filters package doesn't have any executables so the 2D visualisation node can't be run directly. Does Luxonis depthai-ros provide a way to visualise detection outputs in ROS 2?

flash

Posting here seems to have auto formatting which breaks the github links. The second link is "github.com/ros2/detection_visualizer" and the first link is "github.com/luxonis/depthai/issues/518"