Skip to content

部署 Clio

约 259 字小于 1 分钟

2024-12-23

https://github.com/MIT-SPARK/Clio

安装 ros

安装 ros-clio

原项目使用 virtualenv,目前测试下来可以使用 miniforge 虚拟环境(测试过 python 3.8、3.9)

apt install python3-rosdep python3-catkin-tools python3-vcstool

初始化 clio 工作环境

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release
catkin config --skiplist khronos_eval

默认情况下,Clio的依赖项之一 semantic_inference 将尝试针对NVIDIA TensorRT构建。Clio不需要这,如果系统上已经设置了CUDA,则在构建时可能会造成问题。可以在构建前通过运行catkin config -a -DSEMANTIC_INFERENCE_USE_TRT=OFF来禁用此功能。

下载 clio 并 build

cd src
git clone git@github.com:MIT-SPARK/Clio.git clio --recursive
vcs import . < clio/install/clio.rosinstall
rosdep install --from-paths . --ignore-src -r -y

cd ..
catkin build

安装开放词汇集

pip install ~/catkin_ws/src/semantic_inference/semantic_inference[openset]

安装 clio

pip install -e ~/catkin_ws/src/clio

有部分包需要手动降级

运行 clio-ros

source ~/catkin_ws/devel/setup.bash
roslaunch clio_ros realsense.launch object_tasks_file:=/root/data/apartment/tasks_apartment.yaml place_tasks_file:=/root/data/apartment/region_tasks_apartment.yaml

roslaunch clio_ros realsense.launch object_tasks_file:=/root/apartment/tasks_office.yaml place_tasks_file:=/root/apartment/region_tasks_office.yaml
rosbag play oid.bag --clock /camera_odom:=/dominic/forward/colmap_odom /camera_odom_depth:=/dominic/forward/depth/image_rect_raw /camera_odom_image:=/dominic/forward/color/image_raw

image-20241212085725371