Key module version: cuda 11.8; nvidia-smi driver version 535; torch==2.4.1; TensorRT 8.5.1; cudnn==9.1.0; Worked with nvidia 4070ti.

BUILD NEEDED LOCALLY FOR: centerpoint-livox with ws_msgs and pcl_reg.

Normal steps to start after build(Processed frames as input: https://drive.google.com/file/d/1H99vZLZmoUQvnu0JileJkLdRAymwOlUW/view?usp=drive_link ):

cd ~/ros2_ws

source ~/ros2_ws/install/setup.bash

colcon build --packages-select centerpoint --symlink-install

colcon build --packages-select pcl_reg --symlink-install

ros2 run centerpoint centerpoint_node #detection node

ros2 run pcl_reg reg_pcl #publish node

rosrun rviz rviz