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Nova-UTD / navigator

Navigator, our self-driving vehicle software stack
https://nova-utd.github.io/navigator
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LiDAR Detection (Issue #368) #417

Closed MtGuerenS closed 6 months ago

MtGuerenS commented 7 months ago

Description

Implemented a lidar detection node that combines the MMDetection3D and the ComplexYOLOv4 models for the Object classification (Lidar) Issue.

Usage

To test the new feature do the following:

  1. Click here and download the complex_yolov4_mse_loss.pth file
  2. Move complex_yolov4_mse_loss.pth into the directory navigator/data/perception/checkpoints/complex_yolov4_mse_loss.pth
  3. cd into /navigator
  4. uncomment # *object3d_launch_entities, in launches/launch.perception.py
  5. run docker compose run navigator_carla
  6. run colcon build --symlink-install --packages-select lidar_detection && source install/setup.bash
  7. run ros2 launch launches/launch.vehicle.py
  8. open new ternminal with pwd in /navigator
  9. run docker compose run navigator_carla
  10. run ros2 bag play /bags/2024/bag_2024-02-09_Demo/ or other bag
ragibarnab commented 7 months ago

Hi Gueren. Please don't hardcode the paths to model configs/weights, change it so they pass them through ros params. There's a reason I used MMDetection. That is, you can take any state-of-the-art model (a lot of them better than ComplexYOLO) from MMDetection package and use it for inference. By hardcoding the configs/weights the key functionality of my package is lost.

Thanks, Rae

P.S. in the future just communicate with others if you are going to edit and remove their code. Communication is key, y'know? I'm a nice guy, I promise, just reach me out on teams. Like really, our packages should've been split instead of combined the way it is to prevent any issues.