This is ROS wrapper of ChainerCV using catkin_virtualenv
.
This project depends on locusrobotics/catkin_virtualenv and chainer/chainercv.
- Ubuntu 18.04 + ROS Melodic
You can get docker images below from Docker hub repository knorth55/ros_chainercv.
Available tags are below.
- Ubuntu 16.04 + ROS Kinetic
- Kinetic:
kinetic-latest
- Kinetic + CUDA8.0:
kinetic-cuda80-latest
- Kinetic + CUDA9.0:
kinetic-cuda90-latest
- Kinetic + CUDA9.1:
kinetic-cuda91-latest
- Kinetic + CUDA9.2:
kinetic-cuda92-latest
- Kinetic + CUDA10.0:
kinetic-cuda100-latest
- Kinetic:
- Ubuntu 18.04 + ROS Melodic
- Melodic:
melodic-latest
- Melodic + CUDA9.2:
melodic-cuda92-latest
- Melodic + CUDA10.0:
melodic-cuda100-latest
- Melodic:
You can get docker images as a command below.
docker pull knorth55/ros_chainercv:melodic-cuda92-latest
Please build this package using the standard build procedure of ROS.
mkdir catkin_ws/src -p
cd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.git
cd ..
rosdep install --ignore-src --from-path src -y -r -i
catkin build
source devel/setup.bash
mkdir catkin_ws/src -p
cd catkin_ws/src
git clone https://github.com/knorth55/ros_chainercv.git
cd ros_chaienrcv
vim package.xml
# remove nvidia-cuda dependency
vim requirements.txt
# modify cupy-cuda91 to cupy with your CUDA version
cd ../../
rosdep install --ignore-src --from-path src -y -r -i
catkin build
source devel/setup.bash
- 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
- PSPNet:
roslaunch ros_chainercv sample_pspnet_semantic_segmentation.launch
- DeepLab V3+:
roslaunch ros_chainercv sample_deeplab_semantic_segmentation.launch
- FCIS:
roslaunch ros_chainercv sample_fcis_instance_segmentation.launch
- MaskRCNN FPN:
roslaunch ros_chainercv sample_mask_rcnn_fpn_instance_segmentation.launch
- Ubuntu: 18.04
- ROS: Melodic
- CUDA: 9.1
- Chainer: 6.0.0
- CuPy: 6.0.0
- ChainerCV: 0.13