https://github.com/knorth55/ros_chainercv
ROS wrapper for chainercv with catkin_virtualenv
https://github.com/knorth55/ros_chainercv
catkin-virtualenv chainer chainercv deep-learning instance-segmentation object-detection ros ros-wrapper semantic-segmentation
Last synced: about 1 month ago
JSON representation
ROS wrapper for chainercv with catkin_virtualenv
- Host: GitHub
- URL: https://github.com/knorth55/ros_chainercv
- Owner: knorth55
- License: mit
- Created: 2018-10-23T13:58:48.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2021-02-05T07:34:41.000Z (over 4 years ago)
- Last Synced: 2025-03-28T21:01:38.057Z (2 months ago)
- Topics: catkin-virtualenv, chainer, chainercv, deep-learning, instance-segmentation, object-detection, ros, ros-wrapper, semantic-segmentation
- Language: Python
- Size: 436 KB
- Stars: 5
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- License: LICENSE
Awesome Lists containing this project
README
# ROS-ChainerCV
[](https://badge.fury.io/gh/knorth55%2Fros_chainercv)
[](https://github.com/knorth55/ros_chainercv/actions)
[](https://hub.docker.com/r/knorth55/ros_chainercv)
[](https://hub.docker.com/r/knorth55/ros_chainercv)
[](https://hub.docker.com/r/knorth55/ros_chainercv)
[](https://hub.docker.com/r/knorth55/ros_chainercv)
This is ROS wrapper of ChainerCV using `catkin_virtualenv`.
This project depends on [locusrobotics/catkin_virtualenv](https://github.com/locusrobotics/catkin_virtualenv) and [chainer/chainercv](https://github.com/chainer/chainercv).
## Main support
- Ubuntu 18.04 + ROS Melodic
## Docker support
You can get docker images below from Docker hub repository [knorth55/ros_chainercv](https://hub.docker.com/r/knorth55/ros_chainercv).
Available tags are below.
- Ubuntu 16.04 + ROS Kinetic
- Kinetic: `kinetic-latest`
- Kinetic + CUDA8.0: `kinetic-cuda80-latest`
- Kinetic + CUDA9.0: `kinetic-cuda90-latest`
- Kinetic + CUDA9.1: `kinetic-cuda91-latest`
- Kinetic + CUDA9.2: `kinetic-cuda92-latest`
- Kinetic + CUDA10.0: `kinetic-cuda100-latest`
- Ubuntu 18.04 + ROS Melodic
- Melodic: `melodic-latest`
- Melodic + CUDA9.2: `melodic-cuda92-latest`
- Melodic + CUDA10.0: `melodic-cuda100-latest`
You can get docker images as a command below.
```bash
docker pull knorth55/ros_chainercv:melodic-cuda92-latest
```
## Build
### Build with `nvidia-cuda-toolkit` deb package
Please build this package using the standard build procedure of ROS.
```bash
mkdir catkin_ws/src -p
cd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.git
cd ..
rosdep install --ignore-src --from-path src -y -r -i
catkin build
source devel/setup.bash
```
### Build with your own CUDA
```bash
mkdir catkin_ws/src -p
cd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.git
cd ros_chaienrcv
vim package.xml
# remove nvidia-cuda dependency
vim requirements.txt
# modify cupy-cuda91 to cupy with your CUDA version
cd ../../
rosdep install --ignore-src --from-path src -y -r -i
catkin build
source devel/setup.bash
```
## Run sample
### Object Detection
- FasterRCNN : `roslaunch ros_chainercv sample_faster_rcnn_object_detection.launch`
- FasterRCNN FPN: `roslaunch ros_chainercv sample_faster_rcnn_fpn_object_detection.launch`
- SSD: `roslaunch ros_chainercv sample_ssd_object_detection.launch`
- YOLO: `roslaunch ros_chainercv sample_yolo_object_detection.launch`
### Semantic Segmentation
- PSPNet: `roslaunch ros_chainercv sample_pspnet_semantic_segmentation.launch`
- DeepLab V3+: `roslaunch ros_chainercv sample_deeplab_semantic_segmentation.launch`
### Instance Segmentation
- FCIS: `roslaunch ros_chainercv sample_fcis_instance_segmentation.launch`
- MaskRCNN FPN: `roslaunch ros_chainercv sample_mask_rcnn_fpn_instance_segmentation.launch`
## Tested environment
- Ubuntu: 18.04
- ROS: Melodic
- CUDA: 9.1
- Chainer: 6.0.0
- CuPy: 6.0.0
- ChainerCV: 0.13