fix: update readme (#2)

* first commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * Now build works with ROS 2 node structure Signed-off-by: kminoda <koji.minoda@tier4.jp> * finalize Signed-off-by: kminoda <koji.minoda@tier4.jp> * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * for lane detection Signed-off-by: kminoda <koji.minoda@tier4.jp> * now works Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>
daniel89710 · Aug 4, 2023 · 75975c8 · 75975c8
1 parent c3cf33d
commit 75975c8
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -30,24 +30,26 @@ target_link_libraries(lightnet_trt ${CUDA_LIBRARIES} ${OpenCV_LIBS} nvinfer nvin
 
 
 # ROS 2 package
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-# build nodelet
-# TODO
-
-# build node
-ament_auto_add_executable(lightnet_trt_node
-  src/main.cpp
-  src/lightnet_trt_node.cpp
-  src/lightnet_trt_core.cpp
-)
-ament_target_dependencies(lightnet_trt_node)
-target_include_directories(lightnet_trt_node PRIVATE modules/ extra/)
-target_link_libraries(lightnet_trt_node detector)
-target_link_libraries(lightnet_trt_node ${CUDA_LIBRARIES} ${OpenCV_LIBS} nvinfer nvinfer_plugin nvparsers gflags boost_system boost_filesystem "stdc++fs" "stdc++")
-
-ament_auto_package(INSTALL_TO_SHARE
-  launch
-  configs
-)
+if(BUILD_ROS2_LIGHTNET_TRT)
+  find_package(autoware_cmake REQUIRED)
+  autoware_package()
+
+  # build nodelet
+  # TODO
+
+  # build node
+  ament_auto_add_executable(lightnet_trt_node
+    src/main.cpp
+    src/lightnet_trt_node.cpp
+    src/lightnet_trt_core.cpp
+  )
+  ament_target_dependencies(lightnet_trt_node)
+  target_include_directories(lightnet_trt_node PRIVATE modules/ extra/)
+  target_link_libraries(lightnet_trt_node detector)
+  target_link_libraries(lightnet_trt_node ${CUDA_LIBRARIES} ${OpenCV_LIBS} nvinfer nvinfer_plugin nvparsers gflags boost_system boost_filesystem "stdc++fs" "stdc++")
+
+  ament_auto_package(INSTALL_TO_SHARE
+    launch
+    configs
+  )
+endif()
diff --git a/README.md b/README.md
@@ -115,6 +115,24 @@ Inference from images
 $ ./lightNet-TRT --flagfile ../configs/lightNet-BDD100K-det-semaseg-1280x960.txt --precision [kFLOAT/kHALF/kINT8] {--dla [0/1]} --d VIDEO
 ```
 
+### Inference with ROS 2 node
+
+You can build as follows. Note that current implementation requires Autoware installed and sourced.
+
+```bash
+mkdir lightnet_trt_ws/src -p
+cd lightnet_trt_ws/src
+git clone https://github.com/kminoda/lightNet-TRT-ROS2.git
+cd ..
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_ROS2_LIGHTNET_TRT=ON
+```
+
+Then, you can run the node as follows.
+
+```bash
+ros2 launch lightnet_trt lightnet_trt.launch.xml
+```
+
 ## Implementation
 
 LightNet-TRT is built on the LightNet framework and integrates with TensorRT using the Network Definition API. The implementation is based on the following repositories:

diff --git a/launch/lightnet_trt.launch.xml b/launch/lightnet_trt.launch.xml
@@ -5,15 +5,15 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0" />
 
   <!-- path to the lightNet-TRT cfg file to be loaded -->
-  <!-- <arg name="model_cfg" default="$(find-pkg-share lightnet_trt)/configs/lightNet-BDD100K-det-semaseg-1280x960.cfg" /> -->
-  <!-- <arg name="model_weights" default="$(find-pkg-share lightnet_trt)/configs/lightNet-BDD100K-det-semaseg-1280x960.weights" /> -->
-  <!-- <arg name="width" default="1280"/> -->
-  <!-- <arg name="height" default="960"/> -->
+  <arg name="model_cfg" default="$(find-pkg-share lightnet_trt)/configs/lightNet-BDD100K-det-semaseg-1280x960.cfg" />
+  <arg name="model_weights" default="$(find-pkg-share lightnet_trt)/configs/lightNet-BDD100K-det-semaseg-1280x960.weights" />
+  <arg name="width" default="1280"/>
+  <arg name="height" default="960"/>
 
-  <arg name="model_cfg" default="$(find-pkg-share lightnet_trt)/configs/yolov8x-BDD100K-640x640-T4-lane4cls.cfg"/>
-  <arg name="model_weights" default="$(find-pkg-share lightnet_trt)/configs/yolov8x-BDD100K-640x640-T4-lane4cls-scratch-pseudo-finetune_last.weights"/>
-  <arg name="width" default="640"/>
-  <arg name="height" default="640"/>
+  <!-- <arg name="model_cfg" default="$(find-pkg-share lightnet_trt)/configs/yolov8x-BDD100K-640x640-T4-lane4cls.cfg"/> -->
+  <!-- <arg name="model_weights" default="$(find-pkg-share lightnet_trt)/configs/yolov8x-BDD100K-640x640-T4-lane4cls-scratch-pseudo-finetune_last.weights"/> -->
+  <!-- <arg name="width" default="640"/> -->
+  <!-- <arg name="height" default="640"/> -->
 
   <group>
     <node pkg="lightnet_trt" exec="lightnet_trt_node" name="lightnet_trt_node">