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robosense_ac_perception
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# robosense_ac_perception [README](README.md) | [中文文档](README_CN.md) ## 1. Introduction `robosense_ac_perception` provides perception capabilities such as object detection, semantic segmentation, dense depth estimation, etc. ## 2. Prerequisites This project supports both ROS1 and ROS2. It has been tested on the Noetic version of ROS1 and the Humble version of ROS2. For usage on the x86 platform, an Nvidia GPU (e.g., 3060) is required, along with the installation of `CUDA` and `TensorRT` (recommended version 8.5.2.2). For the ARM platform, it has been adapted to the following platforms: * RK3588 platform based on RKNN version 2.3.0 * JETSON Orin based on Jetpack 6.2 * RDK X5 based on OS Version 3.1.1 ### 2.1 Install ROS1 or ROS2 Please follow the official instructions to install ROS: * [ROS1 Installation](http://wiki.ros.org/noetic/Installation/Ubuntu) * [ROS2 Installation](https://docs.ros.org/en/humble/Installation.html) ## 3. Installation & Deployment ### 3.1 Pulling the Code Create a new folder or enter your existing workspace, and execute the following commands to pull the code into the workspace. ```bash cd WORKSPACE_PATH/src mkdir ac_studio && cd ac_studio git clone https://github.com/RoboSense-Robotics/robosense_ac_perception.git -b main ``` ### 3.2 Model Download ```shell cd robosense_ac_perception bash download_model.sh ``` ### 3.3 Installing Dependencies Use the `rosdep` tool to install the dependencies required for compiling `robosense_ac_perception`. ```bash cd ac_studio rosdep install --from-paths robosense_ac_perception --ignore-src -r -y ``` Please follow the [instructions](https://github.com/RoboSense-Robotics/robosense_ac_ros2_sdk_infra/blob/main/modules/ac_driver/README.md) to compile the required robosense_msgs for ROS2. Compilation is not needed for ROS1. ### 3.4 Compile robosense_ac_perception #### For ROS1 Environment Execute the following commands in the workspace to compile and install `robosense_ac_perception`. ```bash cd WORKSPACE_PATH catkin build perception_msgs catkin build robosense_ac_perception ``` After compilation and installation, it's recommended to refresh the workspace's `bash profile` to ensure component functionality. ```bash source devel/setup.bash ``` #### For ROS2 Environment Execute the following command in the workspace to compile and install `robosense_ac_perception`. ```bash cd WORKSPACE_PATH colcon build --symlink-install --parallel-workers 8 --packages-select perception_msgs robosense_ac_perception ``` After compilation and installation, it's recommended to refresh the workspace's `bash profile` to ensure component functionality. ```bash source install/setup.bash ``` ## 4. Running ### 4.1 Acquiring Data Data can be obtained either by connecting to an Active Camera online or by playing offline data packets for testing. #### 4.1.1 Running the Active Camera Refer to the [documentation](https://github.com/RoboSense-Robotics/robosense_ac_ros2_sdk_infra/tree/main/modules/ac_driver) to run the Super Sensor node for real-time data acquisition. Follow the documentation instructions to set the corresponding environment variables in the terminal to enable zero-copy mode or non-zero-copy mode for data acquisition. #### 4.1.2 Offline Data Playback Use the `ros` command to play back data packets, for example: ```bash # ROS1 rosbag play BAG_PATH # ROS2 ros2 bag play BAG_PATH ``` ### 4.2 Running Nodes #### 4.2.1 Running Object Detection Node Run the `yolov8_node` node using the `ros` command: ```bash # ROS1 roslaunch modules/launch/yolov8.launch # ROS2 ros2 launch robosense_ac_perception start_yolov8.py ``` #### 4.2.2 Running Semantic Segmentation Node Run the `ppseg_node` node using the `ros` command: ```bash # ROS1 roslaunch modules/launch/ppseg.launch # ROS2 ros2 launch robosense_ac_perception start_ppseg.py ``` #### 4.2.3 Running Dense Depth Estimation Node Run the `promptda_node` node using the `ros` command: ```bash # ROS1 roslaunch modules/launch/promptda.launch # ROS2 ros2 launch robosense_ac_perception start_promptda.py ``` ## 5. FAQ [Create New Issue](https://github.com/RoboSense-Robotics/robosense_ac_perception/issues/new) ## 6. Open Source License [The Apache License, version 2.0.](https://www.apache.org/licenses/LICENSE-2.0)
