Running detic instance segmentation with ROS 2 topic.
In order to build this package, just run. This packages support ROS 2 humble.
rosdep install -iry --from-paths .
cd (workspace root)
colcon build --symlink-install
ros2 run detic_onnx_ros2 detic_onnx_ros2_node --ros-args --remap image_raw:=(input image topic)
You can see detection results in /detic_result/image topic with sensor_msgs/msg/Image type.
- Inference with ROS 2 sensor_msgs/msg/Image topic.
- Visualize segmentation result.
- Publish object class.
- Publish object score.
- Add launch file.
- Add parameter for setting detection width / detic model type / vocaburary etc...
- Publish object mask.
- Inference with GPU.
- Add test case.
Custom vocabulary will not be supported because of onnx model used in this package does not support it.