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rai_nomad package from rai reporai_whatisee rai_bringup rai_nomad rai_open_set_vision rai_interfaces rai_state_logs |
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | Apache-2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/robotecai/rai.git |
VCS Type | git |
VCS Version | development |
Last Updated | 2025-04-02 |
Dev Status | UNMAINTAINED |
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
Package enabling exploration using NoMaD model in RAI
Additional Links
No additional links.
Maintainers
- kdabrowski
Authors
No additional authors.
RAI NoMaD
This package provides a ROS2 Node which loads and runs the NoMaD model, that can be dynamically activated and deactivated using ROS2 messages.
Running instructions
1. Setup the ROS2 workspace
In the base directory of the RAI
package install dependencies:
poetry install --with nomad
Source the ros installation
source /opt/ros/${ROS_DISTRO}/setup.bash
Run the build process:
colcon build
Setup your shell:
source ./setup_shell.sh
2. Run the node
Run the ROS2 node using ros2 run
:
ros2 run rai_nomad nomad --ros-args -p image_topic:=<your_image_topic>
The model will be loaded and ready, but it will not run until you call the /rai_nomad/start
service. Then it will start outputting velocity commands and your robot should start moving. You can then stop the model by calling the /rai_nomad/stop
service.
Parameters
-
model_path
: Path to where the model should be downloaded. By default it will be downloaded into the package’sshare
directory. -
image_topic
: The topic where the camera images are being published. -
cmd_vel_topic
: The topic where the velocity commands are being published. Default:/cmd_vel
. -
linear_vel
: Linear velocity scaling of the model output. -
angular_vel
: Angular velocity scaling of the model output. -
max_v
andmax_w
: Maximum linear and angular velocities that the model can output. -
rate
: The rate at which the model will run.
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.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rai_nomad at Robotics Stack Exchange
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