ROS-ChainerCV

This is ROS wrapper of ChainerCV using catkin_virtualenv.

This project depends on locusrobotics/catkin_virtualenv and chainer/chainercv.

Main support

• Ubuntu 18.04 + ROS Melodic

Docker support

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
• Ubuntu 18.04 + ROS Melodic
  • Melodic: melodic-latest
  • Melodic + CUDA9.2: melodic-cuda92-latest
  • Melodic + CUDA10.0: melodic-cuda100-latest

You can get docker images as a command below.

docker pull knorth55/ros_chainercv:melodic-cuda92-latest

Build

Build with nvidia-cuda-toolkit deb package

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

Build with your own CUDA

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

Run sample

Object Detection

• 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

Semantic Segmentation

• PSPNet: roslaunch ros_chainercv sample_pspnet_semantic_segmentation.launch
• DeepLab V3+: roslaunch ros_chainercv sample_deeplab_semantic_segmentation.launch

Instance Segmentation

• FCIS: roslaunch ros_chainercv sample_fcis_instance_segmentation.launch
• MaskRCNN FPN: roslaunch ros_chainercv sample_mask_rcnn_fpn_instance_segmentation.launch

Tested environment

• Ubuntu: 18.04
• ROS: Melodic
• CUDA: 9.1
• Chainer: 6.0.0
• CuPy: 6.0.0
• ChainerCV: 0.13