Ros2_Object_Detection

System Requirements

• Jetson Nano
• Jetpack 4.6 or higher

Jetpack Setup

free -m

If you don't have the right amount of swap, or want to change the value, use the following procedure to do so (from a terminal):

# Disable ZRAM:
sudo systemctl disable nvzramconfig

# Create 4GB swap file
sudo fallocate -l 4G /mnt/4GB.swap
sudo chmod 600 /mnt/4GB.swap
sudo mkswap /mnt/4GB.swap

# Append the following line to /etc/fstab
sudo su
echo "/mnt/4GB.swap swap swap defaults 0 0" >> /etc/fstab
exit

REBOOT

Install Docker From Docker Hub

• Docker is Already available on docker hub with will satisfy following requirements for the system
• Link is given bellow

docker pull karandhage/thesis_version1

• Docker run guide

Docker Features Availability

Docker comes with following packages preinstalled

• ROS2 -foxy
• pytorch
• torch Vision
• tensor RT
• more details

Please Check Docker Installation Guide Click Here

Build the ROS2 Packages

Build the all the ros2 packages from src folder

• Navigate to Ros2_Object_Detection(cd Ros2_Object_Detection)

• And Run following command

colcon build or ./run.sh 

• after this source the setup.bash

source install/setup.bash

Available packages and Usage

• please check available package in repo and details before building the packages.

my_camera_pkg

• For more details click here

my_undistorted_img_pkg

• For more details click here

my_tensorRt_pkg

• For mode details click here

my_yolov5_pkg

• For mode details click here

my_yolo_launch

• For mode details click here