![]() ![]() ![]() The pretrained model-PeopleSemSegNet, pictured in the image (right)-runs at 325fps on NVIDIA Jetson AGX Orin. Gray represents an unknown area, where it is not explored whether the grid is passable, with a stored value of 1. The U-Net package, based on TensorRT, can be used for generating semantic segmentation masks from images and the DOPE package can be used for 3D pose estimation for all detected objects.ĭNN Inference GEM is the fastest way to incorporate performant AI inference in a ROS 2 application. Kinetic, Ubuntu 16. If the desired DNN model isn't supported by TensorRT, then Triton can be used to deploy the model.Īdditional GEMs incorporating model support are available and include support for U-Net and DOPE. Further tuning of pre-trained models or optimizations of developers' own models can be done with the NVIDIA TAO Toolkit.Īfter optimization, these packages are deployed by the NVIDIA TensorRT™ high-performance inference SDK or Triton™, NVIDIA’s inference server. ![]() DNN Inference GEM is a set of ROS 2 packages that lets developers use any of NVIDIA’s numerous inference models available on NGC, or even provide their own DNN. The first is creating an occupancy grid, the second is getting data from the RPlidar. I publish this message and in another node i create nav_msgs::OccupancyGrid grid_message with these info grid_ = 20 Īnd i use msg->data*width + msg->data to fill the data field of the occupancyGrid message,įor example, at cell(1,10) the corresponding nav_msgs::OccupancyGrid.data index is (10*20+1) and in this index i store 0.10000000149011612 ROS interface: Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message. In RViz i get the occupancy grid and pose just fine, but i need to be able to convert the pose and orientation so i can process the data in my program (basically i need to save the position and orientation correlated to the occupancy grid, every time i press a key on my keyboard) and show that on the screen. Map these to integers, where everything above OCCUPIED (100) goes to -1. I used std_msgs::Float32MultiArray with data field = Īs an example to represent that probability,where the first value "1.0" represent the height, the second value "10" represent the width and the third value represent the probability at that (1.0,10) cell, and so on for other values, The policy for combination is that for each cell, we look at each grid cell that intersects it and consider their values. add list of points (in a ROS FloatArrayBare structure) to the occupancy grid. I am trying to create an occupancy grid message, so for that i have some float data represent the probability, Why two occupancy grids The idea is to use the data from gmapping to create a new map. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |