{"id":13717556,"url":"https://github.com/ms-iot/ros_msft_onnx","last_synced_at":"2025-05-07T07:31:45.992Z","repository":{"id":43158567,"uuid":"286577642","full_name":"ms-iot/ros_msft_onnx","owner":"ms-iot","description":"ONNX Runtime for the Robot Operating System (ROS), works on ROS1 and ROS2","archived":true,"fork":false,"pushed_at":"2024-02-14T20:48:17.000Z","size":9925,"stargazers_count":32,"open_issues_count":12,"forks_count":10,"subscribers_count":6,"default_branch":"foxy","last_synced_at":"2024-08-04T00:13:45.339Z","etag":null,"topics":["hardware-acceleration","onnx-runtime","ros","ros2"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ms-iot.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","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":"2020-08-10T20:59:04.000Z","updated_at":"2024-07-12T16:17:37.000Z","dependencies_parsed_at":"2024-02-14T21:50:35.770Z","dependency_job_id":null,"html_url":"https://github.com/ms-iot/ros_msft_onnx","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ms-iot%2Fros_msft_onnx","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ms-iot%2Fros_msft_onnx/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ms-iot%2Fros_msft_onnx/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ms-iot%2Fros_msft_onnx/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ms-iot","download_url":"https://codeload.github.com/ms-iot/ros_msft_onnx/tar.gz/refs/heads/foxy","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224573503,"owners_count":17333804,"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","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":["hardware-acceleration","onnx-runtime","ros","ros2"],"created_at":"2024-08-03T00:01:23.980Z","updated_at":"2024-11-14T05:32:07.593Z","avatar_url":"https://github.com/ms-iot.png","language":"C++","funding_links":[],"categories":["Tools for Robotics","Robotics Tools and Frameworks","Tools"],"sub_categories":["In-memory data grids","Winetricks","Objective-C Tools, Libraries, and Frameworks","Mesh networks"],"readme":"# ROS 2 with ONNX Runtime\n\n\u003cp align=\"center\"\u003e\u003cimg width=\"50%\" src=\"docs/images/ONNX_Runtime_logo_dark.png\" /\u003e\u003c/p\u003e\n\n[ONNX Runtime](https://github.com/microsoft/onnxruntime) is an open source inference engine for ONNX Models.\nONNX Runtime Execution Providers (EPs) enables the execution of any ONNX model using a single set of inference APIs that provide access to the best hardware acceleration available.\n\nIn simple terms, developers no longer need to worry about the nuances of hardware specific custom libraries to accelerate their machine learning models.\nThis repository demonstrates that by enabling the same code with ROS 2 to run on different hardware platforms using their respective AI acceleration libraries for optimized execution of the ONNX model.\n\n## System Requirement\n\n  * Microsoft Windows 10 64-bit or Ubuntu 20.04 LTS x86_64\n  * To make use of the hardware acceleration, the system is required to be compatible with [**CUDA 10.1**](https://developer.nvidia.com/cuda-toolkit) and [**cuDNN 7.6.5**](https://developer.nvidia.com/cudnn).\n\n\u003e For GPU support, please follow the installation steps on NVIDIA portal before proceeding.\n\n## How to Build\n\nONNX Runtime team is releasing different binaries for CPU and GPU (CUDA) support. To switch between the two, a workspace rebuild is required.\n\n* Default CPU\n\n### Windows\n\n```Batchfile\nmkdir colcon_ws\\src\ncd colcon_ws\n\nwget https://raw.githubusercontent.com/ms-iot/ros_msft_onnx/foxy/onnx_windows.repos\nvcs import src \u003c onnx.repos\ncolcon build --cmake-args -DCUDA_SUPPORT=OFF\n```\n\n* Default GPU (CUDA)\n\n```Batchfile\nmkdir colcon_ws\\src\ncd colcon_ws\n\nwget https://raw.githubusercontent.com/ms-iot/ros_msft_onnx/foxy/onnx_windows.repos\nvcs import src \u003c onnx.repos\ncolcon build --cmake-args -DCUDA_SUPPORT=ON\n```\n\n### Ubuntu\n\n```Batchfile\nmkdir colcon_ws/src\ncd colcon_ws\n\nwget https://raw.githubusercontent.com/ms-iot/ros_msft_onnx/foxy/onnx.repos\nvcs import src \u003c onnx.repos\ncolcon build --cmake-args -DCUDA_SUPPORT=OFF\n```\n\n* Default GPU (CUDA)\n\n```Batchfile\nmkdir colcon_ws/src\ncd colcon_ws\n\nwget https://raw.githubusercontent.com/ms-iot/ros_msft_onnx/foxy/onnx.repos\nvcs import src \u003c onnx.repos\ncolcon build --cmake-args -DCUDA_SUPPORT=ON\n```\n\n## Samples Lists\n\n  * [Object Detection with Tiny-YOLOv2/ONNX Runtime](./onnx/README.md)\n\n# Contributing\n\nThis project welcomes contributions and suggestions.  Most contributions require you to agree to a\nContributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us\nthe rights to use your contribution. For details, visit https://cla.microsoft.com.\n\nWhen you submit a pull request, a CLA-bot will automatically determine whether you need to provide\na CLA and decorate the PR appropriately (e.g., label, comment). Simply follow the instructions\nprovided by the bot. You will only need to do this once across all repos using our CLA.\n\nThis project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/).\nFor more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or\ncontact [opencode@microsoft.com](mailto:opencode@microsoft.com) with any additional questions or comments.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fms-iot%2Fros_msft_onnx","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fms-iot%2Fros_msft_onnx","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fms-iot%2Fros_msft_onnx/lists"}