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comp repositoryexample_pkg beginner_tutorials pub_sub detect_s nodelet_s simple_distrib simple_s test_interfaces turtlesim |
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Repository Summary
Checkout URI | https://github.com/wutianze/comp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-11-02 |
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) |
Packages
Name | Version |
---|---|
example_pkg | 0.0.0 |
beginner_tutorials | 0.0.0 |
pub_sub | 0.0.0 |
detect_s | 0.0.0 |
nodelet_s | 0.0.0 |
simple_distrib | 0.0.0 |
simple_s | 0.0.0 |
test_interfaces | 0.0.0 |
turtlesim | 1.2.0 |
README
ComP
cyber/
, ros/
and ros2/
contain code for different environment(middleware). It is recommended that the benchmark be run with root priviledge inside docker container. Detail guidances are provided in these directories.
apps
contains detect algorithms for tracking and line detecting. You need to recompile them in cyber & ros docker container. It is managed by cmake.
Libraries needed:
- opencv3.4.10, opencv_contrib 3.4.10, and cv_bridge is needed in ROS
- darknet(Yolo)
- clone darknet and compile
- cp libdarknet.so to usr/lib or /lib
Tips for users
- opencv_contrib install commands:
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules -DBUILD_opencv_ximgproc=OFF -DBUILD_opencv_xfeatures2d=OFF -DBUILD_opencv_waldboost_detector=OFF ..
- Understand Cyber in Chinese language
- For Yolo, check the darknet we provide. We only add two functions and you can find them in include/darknet.h (init_result, detect_result).
- All three middleware containers can be downloaded from their official websites
- Please open an issue if you encounter any trouble
ComP was our first try to build an usable benchmark pack for autonomous driving vehicles and the test scenario is simple. We are working on a future version of ComP, any advice is welcomed. The paper was published in RA-L in 2021.
Bibtex:
@article{wu2021oops,
title={Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware},
author={Wu, Tianze and Wu, Baofu and Wang, Sa and Liu, Liangkai and Liu, Shaoshan and Bao, Yungang and Shi, Weisong},
journal={IEEE Robotics and Automation Letters},
volume={6},
number={4},
pages={7301--7308},
year={2021},
publisher={IEEE}
}
CONTRIBUTING
No CONTRIBUTING.md found.
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