Environment

• ubuntu 20.04
• ros galactic
• mmdetection3d with commit id: fe25f7a51d36e3702f961e198894580d83c4387b

about server

mmdetection3d environment: https://mmdetection3d.readthedocs.io/zh-cn/latest/get_started.html

make sure this can run https://mmdetection3d.readthedocs.io/zh-cn/latest/get_started.html#id5

about robot

robot and server communicate with wifi, using cyclone as dds

under untrustworthy network condition, strongly recommend using pcl to preprocess pointcloud using for 3d object detection，for example https://github.com/TonyTnT/pcl_example

about mmdet3d

model zoo https://github.com/open-mmlab/mmdetection3d/blob/main/README_zh-CN.md#%E5%9F%BA%E5%87%86%E6%B5%8B%E8%AF%95%E5%92%8C%E6%A8%A1%E5%9E%8B%E5%BA%93

download weight and config (if pulled mmdet3d repo, the configs in mmdetection3d/projects or mmdetection3d/configs )

Build

colcon build --packages-select mmdet3d_ros2 --symlink

then modify the python interpreter path

Run

source install/setup.bash
ros2 launch mmdet3d_ros2 mmdet3d_infer_launch.py