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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 [email protected]:wep21/mmdet_tensorrt_ros.git
cd mmdet_tensorrt_ros
vcs import . < dependencies.repos
cd ../../
rosdep install --from-paths src --ignore-src -y
  1. Build
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-up-to mmdet_tensorrt_yolox

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