qrb_ros_yolo_processor

qrb_ros_yolo_processor provides ros nodes to execute pre/post-process for Yolo model

Overview

qrb_ros_yolo_processor provides ros nodes to execute pre/post-process for Yolo model

System Requirements

• ROS 2 Humble and later

Quickstart

Code Sync

Currently, we only support build with QCLINUX SDK.

1. Setup QCLINUX SDK environments follow this document: Set up the cross-compile environment

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

   mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws

3. Clone this repository and dependencies under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

   cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws
   
   ## current repository
   git clone https://github.qualcomm.com/QUIC-QRB-ROS/qrb_ros_yolo_processor.git
   
   ## dependencies
   git clone https://github.com/quic-qrb-ros/qrb_ros_vision_msgs.git

Build

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
   -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
   -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
   -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
   -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
   -DBUILD_TESTING=OFF

Run

1. Set up the environment on your device:

   ssh root@[ip-addr]
   (ssh) export HOME=/opt
   (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
   (ssh) source /usr/bin/ros_setup.bash

2. use launch file to run your inference pipeline

   (ssh) ros2 launch ${package_name} ${launch-file}

Resources

Contributions

Thanks for your interest in contributing to qrb_ros_yolo_processor! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

qrb_ros_yolo_processor is licensed under the BSD 3-clause "New" or "Revised" License.

Check out the LICENSE for more details.