Prerequisites

Ubuntu: tested with 20.04

ROS: tested with Noetic, Melodic

Cuda：tested with v11.8, v12.3

Cudnn: tested with v8.4

TensorRT: tested with v8.4.3.1， v10.7.0.23

OpenCV: tested with v4.9.0

refer to prepare for environment prepare.

Start

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

cd ~/catkin_ws/src
git clone https://github.com/Zhao-Qihao/PerceptionSystem.git

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin_make

source devel/setup.bash
roslaunch perception_launch perception.launch