Setup

To get started with easy_perception_deployment, there are two ways to set it up for use. 1. Docker Installation 2. Local Installation

For a relative painless setup experience, the Docker Installation is recommended.

For better system performance, the Local Installation is recommended.

System Requirements for Docker Installation

  1. Anaconda3

  2. nvidia docker - Follow the linked instructions to install this dependency.

Docker Installation

Follow the instructions below to start building the easy_perception_deployment ROS2 package using Docker.

1. Generate desktop shortcut. A .desktop file should appear in your Desktop.

cd ~/epd_ros2_ws/src/easy_perception_deployment/easy_perception_deployment/
sudo chmod u+x scripts/create_desktop_shortcut.bash
./scripts/create_desktop_shortcut.bash

2. Follow the deployment instructions under section, Deploying a custom ONNX Model.

The docker images and container will be built and run automatically once the Run button is clicked.

This process takes a long time so be prepared to wait while the program takes care of all the installation trouble.

System Requirements for Local Installation

  1. Ubuntu 20.04 (Focal Fossa) Operating System.

  2. ROS2 Foxy Fitzroy

  3. Anaconda3

  4. ONNX Runtime - Follow `Installation`_ below to install this dependency.

  5. CMake >=3.15.2

[Optional for Higher Performance]

  1. CUDA (System tested on CUDA 10.2)

  2. CUDNN (System tested on CUDNN 7.6.5)

Local Installation

Follow the instructions below to start building the easy_perception_deployment ROS2 package locally.

The following is the expected final folder structure by following the steps.

~/epd_ros2_ws/
 |_src
   |_easy_perception_deployment
     |_easy_perception_deployment
       |_<package_content ...>
     |_epd_msgs
       |_<package_content ...>

1. Create a ROS2 workspace.

cd $HOME
mkdir -p epd_ros2_ws/src && cd epd_ros2_ws/src

2. Download from GitHub.

cd epd_ros2_ws/src
git clone https://github.com/ros-industrial/easy_perception_deployment

3. Install ONNX Runtime. Please run the command based on your decision on whether you intend to run it with CPU or GPU.

cd ~/epd_ros2_ws/src/easy_perception_deployment/easy_perception_deployment/scripts
sudo chmod u+x install_dep_cpu.bash
sudo chmod u+x install_dep_gpu.bash

# If you intend to only use CPU (better compatibility but slower performance.)
./install_deb_cpu.bash
# OR If you intend to use GPU (lower compatibility but faster performance.)
./install_deb_gpu.bash

4. Generate desktop shortcut. A .desktop file should appear in your Desktop.

cd ~/epd_ros2_ws/src/easy_perception_deployment/easy_perception_deployment/
sudo chmod u+x scripts/create_desktop_shortcut.bash
./scripts/create_desktop_shortcut.bash