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| [![Forks][forks-shield]][forks-url] | ||
| [![Stargazers][stars-shield]][stars-url] | ||
| [![Issues][issues-shield]][issues-url] | ||
| [![MIT License][license-shield]][license-url] | ||
| [![LinkedIn][linkedin-shield]][linkedin-url] | ||
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| <img src="https://github.com/atom-robotics-lab/assets/blob/main/logo_1.png?raw=true" alt="Logo" width="120" height="120"> | ||
| </a> | ||
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| <h3 align="center">Best-README-Template</h3> | ||
| <h3 align="center">ROS-Perception-Pipeline</h3> | ||
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| <p align="center"> | ||
| This is the repo focus on the development of a perception pipeline for the <a href="https://github.com/atom-robotics-lab/MR-Robot">MR-Robot: ModulaR Robot</a> Project, Mr robot is autonomous navigation robot made by A.T.O.M Robotics capable of doing multiple day to day operations such as mapping, navigation for transportation, sanitaion etc. Various other operations can also be performed thanks to its modularity. | ||
| If you’re interested in helping to improve our Project</a>, find out how to <a href="https://github.com/atom-robotics-lab/MR-Robot/blob/main/contributing.md">contribute<a>. | ||
| This repo is focused on developing a ROS 2 based perception-pipeline. | ||
| If you’re interested in helping to improve our Project</a>, find out how to <a href="https://github.com/atom-robotics-lab/ros-perception-pipeline/blob/main/contributing.md">contribute<a>. | ||
| <br /> | ||
| <br /> | ||
| <br /> | ||
| <a href="https://github.com/atom-robotics-lab/ros-perception-pipeline/issues/new?labels=bug&assignees=jasmeet0915,Kartik9250,insaaniManav,namikxgithub">Report Bug</a> | ||
| <a href="https://github.com/atom-robotics-lab/ros-perception-pipeline/issues/new?labels=bug&assignees=jasmeet0915,topguns837,sanchayvashist,namikxgithub">Report Bug</a> | ||
| · | ||
| <a href="https://github.com/atom-robotics-lab/ros-perception-pipeline/issues/new?labels=enhancement&assignees=jasmeet0915,Kartik9250,insaaniManav,namikxgithub">Request Feature</a> | ||
| <a href="https://github.com/atom-robotics-lab/ros-perception-pipeline/issues/new?labels=enhancement&assignees=jasmeet0915,topguns837,sanchayvashist,namikxgithub">Request Feature</a> | ||
| </p> | ||
| </div> | ||
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| <!-- ABOUT THE PROJECT --> | ||
| ## About The Project | ||
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| The perception pipeline project aims to develop a robust and efficient system for extracting meaningful information from sensor data in order to enable autonomous robots, such as the MR-Robot, to understand and interact with their environment. By incorporating advanced techniques like object detection using deep learning models, the perception pipeline enhances the robot's ability to detect and identify objects, enabling it to perform tasks such as mapping, navigation, and sanitation. This project focuses on creating a modular and adaptable perception pipeline that can be customized and expanded to suit different robotic applications, thereby paving the way for more intelligent and capable autonomous systems. | ||
| Our aim is to build a one-stop solution to all the problems related to Robotics-Perception. We are creating a plug-and-play ROS 2 based perception-pipeline which can be customized | ||
| for user-specific custom tasks in the blink of an eye. We are in the process of creating different components for tasks like Object Detection, Image Pre-Processing, Image Segmentation etc. | ||
| These components can be stitched together to make a custom pipeline for any use-case, just like how we play with LEGO bricks. | ||
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| <p align="right">(<a href="#readme-top">back to top</a>)</p> | ||
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| ### Built With | ||
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| * [](https://www.sphinx-docs.org) | ||
| * [](https://www.sphinx-docs.org) | ||
| * [](https://opencv.org/) | ||
| * [](https://www.blender.org/) | ||
| * [](https://www.raspberrypi.org/) | ||
| * [](https://www.espressif.com/) | ||
| * [](https://www.arduino.cc/) | ||
| * [](https://ubuntu.com/) | ||
| * [](https://www.python.org/) | ||
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| <!-- GETTING STARTED --> | ||
| ## Getting Started | ||
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| This is an example of how you may give instructions on setting up your project locally. | ||
| To get a local copy up and running follow these simple example steps. | ||
| Follow these steps to setup this project on your systm | ||
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| ### Prerequisites | ||
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| This is an example of how to list things you need to use the software and how to install them. | ||
| * Ros | ||
| - Refer to our [Ros installation guide](https://atom-robotics-lab.github.io/wiki/markdown/ros/installation.html) | ||
| - Installing Navigation specific dependencies: map-server, move_base and amcl | ||
| ```sh | ||
| sudo apt install ros-noetic-map-server ros-noetic-move-base ros-noetic-amcl | ||
| ``` | ||
| Follow these steps to install ROS Humble and OpenCV | ||
| * ROS Humble | ||
| Refer to the official [ROS 2 installation guide](https://docs.ros.org/en/humble/Installation.html) | ||
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| * Opencv | ||
| ```sh | ||
| sudo apt install libopencv-dev python3-opencv | ||
| * OpenCV | ||
| ```bash | ||
| pip install opencv-contrib-python | ||
| ``` | ||
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| ### Installation | ||
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| 1. Make a new workspace | ||
| ```bash | ||
| mkdir -p percep_ws/src | ||
| ``` | ||
| ```bash | ||
| mkdir -p percep_ws/src | ||
| ``` | ||
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| 2. Clone the ROS-Perception-Pipeline repository | ||
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| Now go ahead and clone this repository inside the "src" folder of the workspace you just created. | ||
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| ```bash | ||
| cd percep_ws/src | ||
| git clone [email protected]:atom-robotics-lab/ros-perception-pipeline.git | ||
| ``` | ||
| Now go ahead and clone this repository inside the "src" folder of the workspace you just created. | ||
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| 3. Make the package | ||
| ```bash | ||
| cd percep_ws/src | ||
| git clone [email protected]:atom-robotics-lab/ros-perception-pipeline.git | ||
| ``` | ||
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| We'll need to "make" everything in our catkin workspace so that the ROS environment knows about our new package. (This will also compile any necessary code in the package). Execute the given commands in your terminal. | ||
| 3. Compile the package | ||
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| ```bash | ||
| colcon build --symlink-install | ||
| ``` | ||
| Follow this execution to compile your ROS 2 package | ||
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| ```bash | ||
| colcon build --symlink-install | ||
| ``` | ||
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| Now you will need to source your workspace | ||
| ```bash | ||
| source install/local_setup.bash | ||
| ``` | ||
| 4. Source your workspace | ||
| ```bash | ||
| source install/local_setup.bash | ||
| ``` | ||
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| * [Rviz Documentation](http://wiki.ros.org/rviz) | ||
| * [Gazebo Tutorials](https://classic.gazebosim.org/tutorials) | ||
| * [Ubuntu Installation guide](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) | ||
| * [Raspberrypi Documentation](https://www.raspberrypi.com/documentation/) | ||
| * [Esp32 Documentation](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/) | ||
| * [Blender Documentaion](https://docs.blender.org/) | ||
| * [YOLOv3](https://arxiv.org/abs/1804.02767) | ||
| * [YOLOv4](https://arxiv.org/abs/2004.10934) | ||
| <p align="right">(<a href="#readme-top">back to top</a>)</p> | ||
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| ## Contributing | ||
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| Hi there! We're thrilled that you'd like to contribute to Hacktoberfest. Your help is essential for keeping it great. | ||
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| ## Opening an issue | ||
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| Thank you for taking the time to open an issue, your feedback helps make Hacktoberfest better. | ||
| Before opening an issue, please be sure that your issue hasn't already been asked by using [GitHub search](https://help.github.com/articles/searching-issues/) | ||
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| Here are a few things that will help us help resolve your issues: | ||
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| - A descriptive title that gives an idea of what your issue refers to | ||
| - A thorough description of the issue, (one word descriptions are very hard to understand) | ||
| - Screenshots (if appropriate) | ||
| - Links (if appropriate) | ||
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| ## Submitting a pull request | ||
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| * Clone the repository using : | ||
| ```bash | ||
| git clone [email protected]:atom-robotics-lab/ros-perception-pipeline.git | ||
| ``` | ||
| * Our wiki uses an open-source framework called ROS. Use this [link](http://wiki.ros.org/) to install and use ROS | ||
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| * Refer to the section below if your task requires you to make changes to Repository. | ||
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| * Fork the repo and Create a new branch: | ||
| ```bash | ||
| git checkout -b my-branch-name | ||
| ``` | ||
| * Make changes, commit and Push to your branch. [Submit a Pull Request](https://github.com/atom-robotics-lab/ros-perception-pipeline/pulls) | ||
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| * Wait for your pull request to be reviewed and merged! | ||
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| ## Resources | ||
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| - [Contributing to Open Source on GitHub](https://guides.github.com/activities/contributing-to-open-source/) | ||
| - [Using Pull Requests](https://help.github.com/articles/using-pull-requests/) | ||
| - [GitHub Help](https://help.github.com) | ||
| - [ros](http://wiki.ros.org/) |