- Jetson AGX Xavier
- CUDA 10.2
- CUDNN 8.0
- PyTorch 1.6.0
- torchvision 0.6.0
- ROS melodic
- Python 3.6.9
$ cd <CATKIN_WORKSPACE>/src
$ git clone https://github.com/wonseok-Jang/complex_yolo_ros
$ cd <CATKIN_WORKSPACE> && catkin_make -j <CPU cores>
$ roslaunch complex_yolo_ros complex_yolov3.launch
model_def
: Configure file pathweights_path
: Weights pathclass_path
: Name pathnms_thres
: Non-Maximum-Suppression thresholdconf_thres
: Confidence threshold
/velodyne_points
: sensor_msgs::PointCloud2 (You can set topic name inlaunch/complex_yolov3.launch
)
/complex_yolo_ros/detected_objects
: complex_yolo_ros::DetectedObjectArray