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genmos_object_search_ros package from genmos_object_search repo

genmos_object_search_ros genmos_object_search_ros2

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Package Summary

Tags No category tags.
Version 0.2.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description GenMOS - A System for Generalized (off-the-shelf) 3D Multi-Object Search | ICRA 2023
Checkout URI https://github.com/zkytony/genmos_object_search.git
VCS Type git
VCS Version main
Last Updated 2023-05-17
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The genmos_object_search_ros package

Additional Links

No additional links.

Maintainers

  • kaiyu

Authors

No additional authors.
ros/README.org
* Example ROS package that uses genmos_object_search

Note that genmos_object_search is written in Python 3. For ROS, it is
best integrated with ROS Noetic.

** Setup

*** Create symbolic link

Go to the `src` folder of your ROS workspace. Then run:
#+begin_src
ln -s path/to/genmos_object_search/ros genmos_object_search_ros
#+end_src
This effectively adds a ROS package called "genmos_object_search_ros" into your workspace

*** Install Dependencies

This is a ROS package; Therefore, it is expected to operate within a ROS workspace.

Before building this package, make sure you have activated a virtualenv. Then, run
#+begin_src
source install_dependencies.bash
#+end_src
to install python dependencies.

*Note* that we use [[https://github.com/eric-wieser/ros_numpy][ros_numpy]] to convert point cloud ROS message to numpy array,
so that point cloud observation can be used to update the search region (see [[./src/genmos_ros/genmos_ros.py#117][code]]).
Typically, one installs ros_numpy by ~sudo apt-get install ros-noetic-ros-numpy~.
However, there are two issues (1) [[https://github.com/eric-wieser/ros_numpy/issues/37][this issue]] where numpy > 1.24 causes an AttributeError on `numpy.float`,
and that (2) the ros_numpy package was no longer maintained.

As a result, we folded the source code of ros_numpy into our repository,
under [[./thirdparty/ros_numpy]]. It is modified to be a standard Python
package that can be pip-installed. The installation is, still, handled
by ~source install_dependencies.bash~ so you do not need to do anything.


*** Build the ROS package
#+begin_src
catkin_make -DCATKIN_WHITELIST_PACKAGES="genmos_object_search_ros"
#+end_src

Note that if you are using the [robotdev Spot environment](https://github.com/zkytony/robotdev/tree/master/spot),
you need to run the following command instead
#+begin_src
build_spot -DCATKIN_WHITELIST_PACKAGES="genmos_object_search_ros"
#+end_src


*** Download Dataset and Models (Optional)
Install [[https://github.com/wkentaro/gdown][gdown]], then run download script:
#+begin_src
pip install gdown
python download.py
#+end_src
This will download both the ~SL\_OSM\_Dataset~ and the frame of reference
prediction models.  The ~SL\_OSM\_Dataset~ will be saved under ~data~, while the
models will be saved under ~models~.

Also, you will need to download spacy models. We use ~en_core_web_lg~ (400MB). To download it:
#+begin_src
python -m spacy download en_core_web_lg
#+end_src
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roscpp
std_msgs
genmsg
actionlib_msgs
message_filters
pcl_ros
pcl_conversions
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged genmos_object_search_ros at Robotics Stack Exchange

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