ROS Wrapper for AirDet

A ROS Node package for AirDet.

On PC (Simulation)

Installation

It is necessary to install Detectron2 requirements in a python virtual environment as it requires Python 3.6 and ROS works with Python 2.7

1. Install ROS Melodic following:

   http://wiki.ros.org/melodic/Installation/Ubuntu

2. Install python Virtual Environment

sudo apt-get install python-pip
sudo pip install virtualenv
mkdir ~/.virtualenvs
sudo pip install virtualenvwrapper
export WORKON_HOME=~/.virtualenvs
echo '. /usr/local/bin/virtualenvwrapper.sh' >> ~/.bashrc 

3. Creating Virtual Environment

mkvirtualenv --python=python3 detectron2_ros

4. Install the dependencies in the virtual environment

We use torch==1.5.1 (recommend) and detectron2==0.2

workon detectron2_ros
pip install torch==1.5.1 torchvision==0.6.1
pip install cython pyyaml
pip install -U 'git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI'
python -m pip install detectron2==0.2 -f \
  https://dl.fbaipublicfiles.com/detectron2/wheels/cu102/torch1.5/index.html
pip install opencv-python
pip install rospkg
pip install fvcore
pip install pillow

Docker

Also, we provide a pre-built docker image here, with the aforementioned libraries installed:

docker pull bowenli1024/airdet-ros:v1

On AGX Xavier (Robot Platform)

Installation

1. Install ROS Melodic following:

   http://wiki.ros.org/melodic/Installation/Ubuntu

2. Install python Virtual Environment

   sudo apt-get install python-pip
   sudo pip install virtualenv
   mkdir ~/.virtualenvs
   sudo pip install virtualenvwrapper
   export WORKON_HOME=~/.virtualenvs
   echo '. /usr/local/bin/virtualenvwrapper.sh' >> ~/.bashrc 

3. Creating Virtual Environment

   mkvirtualenv --python=python3 detectron2_ros
   

4. Install dependencies

   workon detectron2_ros
   pip install opencv-python
   pip install rospkg
   pip install fvcore
   pip install pillow

   Install pytorch 1.6.0 following:

   https://forums.developer.nvidia.com/t/pytorch-for-jetson-version-1-10-now-available/72048

   first download whl file

   Then run

   sudo apt-get install python3-pip libopenblas-base libopenmpi-dev
   pip3 install Cython
   pip3 install numpy torch-1.6.0-cp36-cp36m-linux_aarch64.whl

   Install torchvision:

   sudo apt-get install libjpeg-dev zlib1g-dev
   git clone --branch v0.7.0 https://github.com/pytorch/vision torchvision
   cd torchvision
   sudo python3 setup.py install

   Install detectron2 by building source code

   Download source code

   Then extract the compressed file and build the library

   python -m pip install -e detectron2

Downloading the Package

Clone the package to the ROS workspace using git tools. The folder should be:

AirDet_ROS/
   build/
   devel/
   src/
      airdet_ros/

git clone https://github.com/Jaraxxus-Me/airdet_ros.git
mv airdet_ros AirDet_ROS/src/

Compilation

Attention: DO NOT USE the python virtual environment previously built to compile catking packages.

cd ./AirDet_ROS
catkin_make
source $HOME/.bashrc
source devel/setup.bash

Running

1. First launch ROScore into a terminal.

2. Next, open a new terminal and use the virtual environment created.

   workon detectron2_ros
   cd AirDet_ROS
   catkin_make
   source devel/setup.bash
   roslaunch airdet_ros airdet_ros.launch

   you should see rviz window

   Arguments

   The following arguments can be set on the roslaunch above.

   • input: image topic name
   • detection_threshold: threshold to filter the detection results [0, 1]
   • visualization: True or False to pubish the result like a image
   • model: path to the training model file.

3. Finally, play a bag

   rosbag play -r 0.5 [record bag].bag