ROS-ChainerCV
This is ROS wrapper of ChainerCV using catkin_virtualenv
.
This project depends on locusrobotics/catkin_virtualenv and chainer/chainercv.
Main support
Docker support
You can get docker images below from Docker hub repository knorth55/ros_chainercv.
Available tags are below.
You can get docker images as a command below.
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.
mkdir catkin_ws/src -pcd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.gitcd ..
rosdep install --ignore-src --from-path src -y -r -i
catkin buildsource devel/setup.bash
Build with your own CUDA
mkdir catkin_ws/src -pcd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.gitcd ros_chaienrcv
vim package.xml# remove nvidia-cuda dependencyvim requirements.txt# modify cupy-cuda91 to cupy with your CUDA versioncd ../../
rosdep install --ignore-src --from-path src -y -r -i
catkin buildsource 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
Instance Segmentation
Tested environment
Ubuntu: 18.04
ROS: Melodic
CUDA: 9.1
Chainer: 6.0.0
CuPy: 6.0.0
ChainerCV: 0.13