ros2_pytorch

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ROS2 PyTorch template node - running PyTorch C++ models in ROS2

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# ROS2 PyTorch node

Run a PyTorch model in C++ in ROS2. A template node to be able to adapt to whatever model you want to run, for instance object detection of people and bikes.

Features
-

There might be major changes to the code as it is a WIP.

### Topics
`/` - topic for

## Build and installation
Make sure to run setup.bash and local_setup.bash for your ROS2 environment for all dependencies or symlink them into the repo.

Add Libtorch to your `CMAKE_PREFIX_PATH` env variable, like so:

```
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/path/to/libtorch
```

Add CV_Bridge as well if its not already on your `CMAKE_PREFIX_PATH`

`export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:<path>`

(If its built using `colcon build` this is the path to `cv_bridge` folder in the `install` folder.)

Run

`colcon build`

Unfortunately you also have to copy two libs from https://github.com/intel/mkl-dnn/releases into the libtorch lib folder.

`libmklml.dylib`
`libiomp5.dylib`

## Usage

`ros2 run ros2_pytorch ros2_pytorch_node`

## References

ros2_pytorch

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