ROS integration for mmdetection and TensorRT

Requirements

• Ubuntu 22.04
• ROS2 Humble
• TensorRT 8

Install

1. Install ros and colcon. See https://docs.ros.org/en/humble/Installation.html.
2. Install cuda, cudnn, TensorRT. See https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html.
3. Clone src and Install dependencies

mkdir -p ros_ws/src && cd ros_ws/src
git clone git@github.com:wep21/mmdet_tensorrt_ros.git
cd mmdet_tensorrt_ros
vcs import . < dependencies.repos
cd ../../
rosdep install --from-paths src --ignore-src -y

4. Build

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-up-to mmdet_tensorrt_yolox

Supported model

• YOLOX

Reference

• YOLOX: Exceeding YOLO Series in 2021