ROS 2 support of OpenMMLab projects using TensorRT.
- Ubuntu 22.04
- ROS 2 Humble
- TensorRT>=8.6
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Install ROS 2. Please refer to OFFICIAL DOCUMENT of ROS 2 HUMBLE.
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Install CUDA/CUDNN/TensorRT. Please refer to OFFICIAL DOCUMENT of NVIDIA.
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Clone repository and install dependencies:
git clone [email protected]:ktro2828/mmros && cd mmros rosdep update rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
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Build all packages
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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(OPTIONAL) Build Only Specific Project
Note that
<PROJECT_NAME>represents the name of the particular package under theprojectsdirectory.colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to <PROJECT_NAME>
| Task | Modality | Model |
|---|---|---|
| Detection | Camera | YOLOX (CVPR'2021) |
| Camera | RTMDet (ArXiv'2022) | |
| Semantic Segmentation | Camera | Mask2Former (CVPR'2022) |
| Camera | PIDNet (ArXiv'2022) | |
| Instance Segmentation | Camera | Instance RTMDet (ArXiv'2022) |
| Panoptic Segmentation | Camera | Panoptic FPN (CVPR'2019) |
We are welcome your contribution!!
Before starting your work, please follow the Contributing Guidelines.