centernet_ros2

ROS2 object detector using CenterNet

Environment and Requirement

common

• nvidia-driver >= 396

with docker(recommended)

• Ubuntu 16.04 or 18.04
• docker
• nvidia-docker2

without docker

• Ubuntu 18.04
• ROS2 (tested on dashing)
• See CenterNet for other requirement

Dependencies

• CenterNet

Node

object_detector

• Published topic
  • /detection_image (sensor_msgs/Image)
    • image with bounding boxes and class name
  • /bounding_boxes (std_msgs/String)
    • json string including bounding_boxes information
    • sample -> "{'list': [{'class': 'person', 'confidence': 0.898, 'xmin': 270.3, 'ymin': 12.6, 'xmax': 311.9, 'ymax': 39.0}, {'class': ...}, ...]}"
• Subscribed topic
  • /usb_cam/image_raw (sensor_msgs/Image)

Install and Build

cd your_workspace
git clone https://github.com/amslabtech/centernet_ros2.git
cd centernet_ros2
./build.sh

How to use

cd your_workspace/centernet_ros2
./run_docker.sh
(in docker container)
cd /root/ros2_ws/src/centernet_ros2/docker
./make_in_docker.sh
cd /root/ros2_ws
colcon build --symlink-install
source install/local_setup.bash
ros2 run centernet_ros2 object_detector

References

• https://github.com/xingyizhou/CenterNet