Cylinder3D-ROS2

Deploy Cylinder3D on ROS2

Prerequisites

conda env: environment.yml

Tested on Ubuntu 20.04 LTS. Recommend pip install over conda install.

• Python 3.8
• Pytorch (test with Pytorch==2.0.0 and cuda 11.7)
• yaml
• Cython
• torch-scatter
• nuScenes-devkit (optional for nuScenes)
• spconv (test with spconv==2.3.5)
• ROS2 Humble

Install

# mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/NeSC-IV/cylinder3d_ros2.git
cd ..
colcon build --symlink-install --packages-select cylinder3d_ros2

Run

# python env path in launch file need to be modified
'/home/$USER$/.conda/envs/$ENV_NAME$/bin/python'

# ROS2 RUN
ros2 launch cylinder3d_ros2 cylinder3d_ros2.launch.py
# PYTHON
python test_semantic.py

### wait for the model to be loaded, when message
[semantic_listener]: Listener is started, listening to /velodyne_points
[semantic_publisher]: Publisher has been started, publishing topic: /sem_points
[semantic_network]: Init ready!
 are printed, the model is ready to use