Local mapper package. The role of the local mapper is to take the RGB-D camera images and output the cone classes and positions in 3D space.
Configurations such as tf names or topics can be updated in the launch file of this package.
/camera/color/image_raw
(sensor_msgs/Image
): Color image/camera/depth/image_rect_raw
(sensor_msgs/Image
): Depth image/camera/depth/camera_info
(sensor_msgs/CameraInfo
): Depth camera intrinsic parameters
/cones
(sensor_msgs/ConeArray
): Cone array in car axis/local_cone_markers
(visualization_msgs/MarkerArray
): Array of markers for visualization in RViz or Foxglove
- ROS 2 Humble
- CMake
- LibTorch
- lart_msgs
- C++17 compiler
or
- Docker
If you aren't working in this package and just want to use it, or deploying to production, Docker is recommended (takes a lot of time the first time but shouldn't break).
- Install the dependencies listed above.
- Make a new directory for your workspace.
- Example:
mkdir -p ~/catkin_ws/src
- Example:
- Put this directory in the
src
directory of the workspace. - Run the command
source /opt/ros/humble/setup.bash
. - From the root of the workspace run:
rosdep install -i --from-path src --rosdistro humble -y
colcon build
- Run the command
docker build -t local_mapping .
and wait about some centuries. - Run the command
docker run --gpus all local_mapping
.