Batch Inferencing with TensorRT

docker/perception/camera_object_detection/camera_object_detection.Dockerfile

@@ -7,6 +7,7 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/perception/camera_object_detection camera_object_detection
+COPY src/wato_msgs/perception_msgs/camera_object_detection_msgs camera_object_detection_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -32,7 +33,7 @@ RUN rm requirements.txt
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-get update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
-
+RUN apt install ros-$ROS_DISTRO-tf-transformations -y
 # Copy in source code from source stage
 WORKDIR ${AMENT_WS}
 COPY --from=source ${AMENT_WS}/src src

modules/docker-compose.perception.yaml

@@ -34,7 +34,10 @@ services:
       - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
       - /mnt/wato-drive2/perception_models/traffic_light.pt:/perception_models/traffic_light.pt
       - /mnt/wato-drive2/perception_models/traffic_signs_v0.pt:/perception_models/traffic_signs_v1.pt
-
+      - /mnt/wato-drive2/perception_models/tensorRT.onnx:/perception_models/tensorRT.onnx
+      - /mnt/wato-drive2/perception_models/tensorRT.engine:/perception_models/tensorRT.engine
+      - /mnt/wato-drive2/perception_models/eve.onnx:/perception_models/eve.onnx
+
   lidar_object_detection:
     build:
       context: ..

src/perception/camera_object_detection/package.xml

@@ -9,10 +9,13 @@
   <license>TODO: License declaration</license>
 
   <depend>cv_bridge</depend>
+  <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
   <depend>vision_msgs</depend>
   <depend>std_msgs</depend>
-
+  <depend>camera_object_detection_msgs</depend>
+  <exec_depend>python3-pytest</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>

src/perception/camera_object_detection/requirements.txt

@@ -4,4 +4,11 @@ setuptools==65.5.1
 easydict
 huggingface
 huggingface_hub
-numpy==1.24.2
+numpy==1.24.2
+onnx
+onnxsim
+onnxruntime-gpu
+tensorrt==10.6.0
+tensorrt_lean
+tensorrt_dispatch
+cuda-python

src/wato_msgs/perception_msgs/camera_object_detection_msgs/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(camera_object_detection_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg/BatchDetection.msg"
+    "msg/EveBatchDetection.msg"
+    DEPENDENCIES std_msgs sensor_msgs vision_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/wato_msgs/perception_msgs/camera_object_detection_msgs/msg/BatchDetection.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+sensor_msgs/CompressedImage[] images  # Array of compressed images in the batch
+vision_msgs/Detection2DArray[] detections  # Array of detections for each image

src/wato_msgs/perception_msgs/camera_object_detection_msgs/msg/EveBatchDetection.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+sensor_msgs/Image[] images  # Array of compressed images in the batch
+vision_msgs/Detection2DArray[] detections  # Array of detections for each image

src/wato_msgs/perception_msgs/camera_object_detection_msgs/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+<name>camera_object_detection_msgs</name>
+<version>0.0.0</version>
+<description>TODO: Package description</description>
+<maintainer email="[email protected]">Arfan12630</maintainer>
+<license>TODO: License declaration</license>
+<buildtool_depend>ament_cmake</buildtool_depend>
+
+<depend>std_msgs</depend>
+<depend>vision_msgs</depend>
+<depend>geometry_msgs</depend>
+
+<buildtool_depend>rosidl_default_generators</buildtool_depend>
+<exec_depend>rosidl_default_runtime</exec_depend>
+<member_of_group>rosidl_interface_packages</member_of_group>
+<export>
+    <build_type>ament_cmake</build_type>
+</export>
+</package>

watod-config.sh

@@ -15,7 +15,7 @@
 ##	 - simulation			:	starts simulation
 ##   - samples             	:   starts sample ROS2 pubsub nodes
 
-# ACTIVE_MODULES=""
+ACTIVE_MODULES="perception infrastructure"
 
 ################################# MODE OF OPERATION #################################
 ## Possible modes of operation when running watod.