READ ME

ROS2 implementation of Interestingness_ros (ROS1) (a ROS2 source package)

Requirements

Strongly suggest:

conda deactivate

• Ubuntu20.04

• CUDA11.2+cudnn

• Pytorch+torchvision (for cuda11.1)

• Opencv-python

• ROS2 foxy_apt for rosbag_v2

• ROS2 foxy_source for ros1_bridge

• ROS1 noetic_source

• rosbag2_bag_v2

  can be installed through command

  sudo apt install -y ros-foxy-rosbag2-bag-v2-plugins

• ros1_bridge (not sure if necessary)

• Another source package interface Interface in the same /src directory

• model in /interestingness_ros2/saves directory

Quick Start

Submodule

cd [to-your-ws]/src/interestingness_ros2
git submodule init
git submodule update

Path

Change the rosbag path in file bags.py.

Use rosbag2_bag_v2 (recommend)

In Shell 1

source /opt/ros/noetic/setup.bash #this must be the first to source
source /opt/ros/foxy/setup.bash
cd [to-your-ws]/src/interestingness_ros2/launch
python3 bags.py

In Shell 2

source /opt/ros/foxy/setup.bash
cd [to-your-ws]
colcon build
. install/setup.bash
ros2 launch interestingness_ros2 interestingness.launch.py
# may wait a second