46 lines
1.1 KiB
Markdown
46 lines
1.1 KiB
Markdown
# ROS-Wrapper
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Run pose estimator with ros topics as inputs and publish detected poses.
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<br>
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- Build container:
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```bash
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docker build --progress=plain -t rapidposetriangulation_ros -f ros/dockerfile .
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```
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- Update or remove the `ROS_DOMAIN_ID` in `docker-compose.yml` to fit your environment
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- Run and test:
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```bash
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xhost +; docker compose -f ros/docker-compose.yml up
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docker exec -it ros-test_node-1 bash
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export ROS_DOMAIN_ID=18
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```
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### Debugging
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```bash
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cd /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/tests/
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g++ -std=c++17 -O3 -march=native -Wall -DCOMPILE_EXAMPLE_MAIN \
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$(pkg-config --cflags opencv4) \
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-I /onnxruntime/include \
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-I /onnxruntime/include/onnxruntime/core/session \
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-I /onnxruntime/include/onnxruntime/core/providers/tensorrt \
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-L /onnxruntime/build/Linux/Release \
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my_app.cpp \
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-o my_app \
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-Wl,--start-group \
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-lonnxruntime_providers_tensorrt \
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-lonnxruntime_providers_shared \
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-lonnxruntime_providers_cuda \
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-lonnxruntime \
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-Wl,--end-group \
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$(pkg-config --libs opencv4) \
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-Wl,-rpath,/onnxruntime/build/Linux/Release
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./my_app
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```
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