2.1.1.1. Camera Perception ROS Package

2.1.1.1.1. camera_perception

The camera_perception package

Maintainers:

• Philipp Wolf

• Maximilian Floto

Version:

1.0.0

License:

MIT

2.1.1.1.1.1. Dependencies

Build:

• roscpp

• rospy

• sensor_msgs

• std_msgs

• utilities

• image_transport

• pcl_ros

Build export:

• roscpp

• rospy

• sensor_msgs

• std_msgs

• utilities

Build tool:

catkin

Execution:

• roscpp

• rospy

• sensor_msgs

• std_msgs

• utilities

• image_transport

• pcl_ros

2.1.1.1.1.2. Package definition files

2.1.1.1.1.2.1. CMakeLists.txt

cmake_minimum_required(VERSION 3.21.0)
project(camera_perception VERSION 1.0.0 LANGUAGES CXX CUDA)

# ROS packages
find_package(catkin REQUIRED COMPONENTS
        roscpp
        sensor_msgs
        std_msgs
        pcl_ros
        utilities
        image_transport
        cv_bridge
)

catkin_package(
        CATKIN_DEPENDS roscpp sensor_msgs std_msgs utilities image_transport
)

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()

# Set Flags for Debug and Release
set(CMAKE_CXX_FLAGS_DEBUG "-g")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")

# YOLOv8 Setup
set(CMAKE_CUDA_ARCHITECTURES 60 61 62 70 72 75 86 89 90)
set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
# Disable deprecation warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-dev")
set(CMAKE_CXX_STANDARD 17)

# Modern CMake CUDA integration
find_package(CUDAToolkit REQUIRED)

# OpenCV
find_package(OpenCV REQUIRED)

# TensorRT
set(TensorRT_INCLUDE_DIRS /usr/include/x86_64-linux-gnu)
set(TensorRT_LIBRARIES /usr/lib/x86_64-linux-gnu)

list(APPEND INCLUDE_DIRS
        ${CUDAToolkit_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${TensorRT_INCLUDE_DIRS}
        include
        ${catkin_INCLUDE_DIRS}
)

list(APPEND ALL_LIBS
    CUDA::cublas  # Linking cuBLAS from the CUDA Toolkit
    CUDA::cudart  # CUDA Runtime library
    ${OpenCV_LIBRARIES}
    ${TensorRT_LIBRARIES}
)

include_directories(${INCLUDE_DIRS})
include_directories(include)

add_executable(${PROJECT_NAME}
        src/camera_perception_node.cpp
        src/yolov8-seg.cpp
)

# Link directories and libraries correctly
target_link_libraries(${PROJECT_NAME} PRIVATE nvinfer nvinfer_plugin ${ALL_LIBS} ${catkin_LIBRARIES})
if (${OpenCV_VERSION} VERSION_GREATER_EQUAL 4.7.0)
    message(STATUS "Build with -DBATCHED_NMS")
    add_definitions(-DBATCHED_NMS)
endif()

2.1.1.1.1.2.2. package.xml

<?xml version="1.0"?>
<package format="2">
    <name>camera_perception</name>
    <version>1.0.0</version>
    <description>The camera_perception package</description>

    <maintainer email="philipp.wolf@curemannheim.de">Philipp Wolf</maintainer>
    <maintainer email="maximilian.floto@curemannheim.de">Maximilian Floto</maintainer>

    <license>MIT</license>


    <buildtool_depend>catkin</buildtool_depend>
    <build_depend>roscpp</build_depend>
    <build_depend>rospy</build_depend>
    <build_depend>sensor_msgs</build_depend>
    <build_depend>std_msgs</build_depend>
    <build_depend>utilities</build_depend>
    <build_depend>image_transport</build_depend>
    <build_depend>pcl_ros</build_depend>
    <build_export_depend>roscpp</build_export_depend>
    <build_export_depend>rospy</build_export_depend>
    <build_export_depend>sensor_msgs</build_export_depend>
    <build_export_depend>std_msgs</build_export_depend>
    <build_export_depend>utilities</build_export_depend>
    <exec_depend>roscpp</exec_depend>
    <exec_depend>rospy</exec_depend>
    <exec_depend>sensor_msgs</exec_depend>
    <exec_depend>std_msgs</exec_depend>
    <exec_depend>utilities</exec_depend>
    <exec_depend>image_transport</exec_depend>
    <exec_depend>pcl_ros</exec_depend>

    <export>
    </export>
</package>