(Python) Inference a model with TensorRT on ROS2 Node
If you are not using a container env, please install ROS2 Foxy:
sudo apt install software-properties-common libyaml-cpp-dev -y && \
sudo add-apt-repository universe && \
sudo apt update && sudo apt install curl -y && \
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
sudo apt update && \
sudo apt install ros-foxy-desktop python3-argcomplete -y && \
sudo apt install ros-dev-tools ros-foxy-rqt* ros-foxy-tf-transformations -y
sudo pip install transforms3d -y
If you are using a container env, your container already installed ROS2.
2. Convert Waymo dataset to Rosbag for ROS2
You can use two repositories step by step.
3. ROS2 play bagfile on the container docker exec -it centerpointpillar bash
cd /Dataset
ros2 bag play segment-10359308928573410754_720_000_740_000_with_camera_labels/ # ros2 bag play folder_with_ros2bag
4. Run ros2_demo.py on the container docker exec -it centerpointpillar bash
cd ~ /CenterPointPillar/tools/
python ros2_demo.py --cfg_file cfgs/waymo_models/centerpoint_pillar_inference.yaml --ckpt ../ckpt/checkpoint_epoch_24.pth docker exec -it centerpointpillar bash
rviz2
Fixed Frame: base_link
Add -> By display type -> PountCloud2 -> Topic: /lidar/top/pointcloud, Size(m): 0.03
Add -> By topic -> /boxes/MarkerArray
