{"id":31223727,"url":"https://github.com/mit-acl/fastsam_ros","last_synced_at":"2025-09-21T22:55:34.453Z","repository":{"id":234801484,"uuid":"660779749","full_name":"mit-acl/fastsam_ros","owner":"mit-acl","description":"ROS wrapper for FastSAM, with docker","archived":false,"fork":false,"pushed_at":"2023-06-30T20:35:41.000Z","size":9,"stargazers_count":17,"open_issues_count":0,"forks_count":0,"subscribers_count":2,"default_branch":"main","last_synced_at":"2024-04-20T20:55:21.498Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/mit-acl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2023-06-30T20:35:20.000Z","updated_at":"2024-04-20T20:55:25.074Z","dependencies_parsed_at":"2024-04-20T20:55:24.147Z","dependency_job_id":"86d7e2a5-a907-4532-9261-685b2118559f","html_url":"https://github.com/mit-acl/fastsam_ros","commit_stats":null,"previous_names":["mit-acl/fastsam_ros"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/mit-acl/fastsam_ros","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mit-acl%2Ffastsam_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mit-acl%2Ffastsam_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mit-acl%2Ffastsam_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mit-acl%2Ffastsam_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/mit-acl","download_url":"https://codeload.github.com/mit-acl/fastsam_ros/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mit-acl%2Ffastsam_ros/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":276318988,"owners_count":25621651,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-21T02:00:07.055Z","response_time":72,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-09-21T22:55:30.069Z","updated_at":"2025-09-21T22:55:34.448Z","avatar_url":"https://github.com/mit-acl.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"FastSAM ROS with Docker\n=======================\n\nThis ROS package wraps the [Official FastSAM](https://github.com/CASIA-IVA-Lab/FastSAM) repo. Further, [`nvidia-docker`](https://github.com/NVIDIA/nvidia-docker) is used to build an image with all the necessary dependencies. Then, [`docker compose`](https://docs.docker.com/compose/install/) can be used to create a container to launch a ROS node. Note that the `docker-compose.yml` file shares the container network with the host network---thus, the node will be able to communicate with other ROS nodes on the host machine.\n\n**Tested on:**\n- Docker version 23.0.0, build e92dd87\n- NVIDIA Container Runtime Hook version 1.12.0, commit: 62bd015475656ef795cb0d59cc4030a6bd4a9526\n- NVIDIA GTX 1070 8GB\n- Ubuntu 20.04 / ROS Noetic\n\n## Getting Started\n\nInstall `docker`, `docker-compose`, `nvidia-docker` (i.e., `nvidia-container-toolkit`). Note that you do not need CUDA installed on your host machine, but you do need an NVIDIA driver installed on the host for your particular NVIDIA GPU.\n\n\n```bash\n$ git clone --recurse-submodules https://github.com/mit-acl/fastsam_ros # get FastSAM as submodule\n$ cd fastsam_ros\n$ docker compose build\n$ docker compose up\n```\n\n## Running inside a namespace\n\nYou can use `docker compose run` to set the `ROS_NAMESPACE` environment variable:\n\n```bash\ndocker compose run -e ROS_NAMESPACE=robot/camera fastsam_ros roslaunch fastsam_ros detect.launch\n```\n\n## Webcam demo\n\n1. Install your favorite ROS web camera package. We will use [`usb_cam`](http://wiki.ros.org/usb_cam): `sudo apt install ros-noetic-usb-cam`.\n2. Start a `roscore`.\n3. Start the USB camera (with remapping): `rosrun usb_cam usb_cam_node usb_cam/image_raw:=image_raw`\n4. Start `fastsam_ros` via `docker compose up`\n\n\n### Credits\n\n- [FastSAM](https://github.com/CASIA-IVA-Lab/FastSAM)\n- [Meta's Segment Anything](https://github.com/facebookresearch/segment-anything)\n- [YOLOv7 ROS](https://github.com/mit-acl/yolov7_ros)","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-acl%2Ffastsam_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmit-acl%2Ffastsam_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-acl%2Ffastsam_ros/lists"}