MMROS

ROS 2 support of OpenMMLab projects using TensorRT.

Requirements

• Ubuntu 22.04
• ROS 2 Humble
• TensorRT>=8.6

Install

1. Install ROS 2. Please refer to OFFICIAL DOCUMENT of ROS 2 HUMBLE.

2. Install CUDA/CUDNN/TensorRT. Please refer to OFFICIAL DOCUMENT of NVIDIA.

3. Clone repository and install dependencies:

   git clone [email protected]:ktro2828/mmros && cd mmros
   rosdep update
   rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO

4. Build all packages

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

5. (OPTIONAL) Build Only Specific Project

   Note that <PROJECT_NAME> represents the name of the particular package under the projects directory.

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to <PROJECT_NAME>

Sample Projects

Task	Modality	Model
Detection	Camera	DETR (ECCV'2020)
	Camera	YOLOX (CVPR'2021)
	Camera	RTMDet (ArXiv'2022)
	Camera	RF-DETR (ArXiv'2025)
	Camera	DEIMv2 (ArXiv'2025)
Semantic Segmentation	Camera	Mask2Former (CVPR'2022)
	Camera	PIDNet (ArXiv'2022)
	Camera	EoMT (CVPR'2025)
Instance Segmentation	Camera	Instance RTMDet (ArXiv'2022)
Panoptic Segmentation	Camera	Panoptic FPN (CVPR'2019)

User Guides

• 😎 Supported Tasks
• 💻 How to Deploy ONNX from MMLab Projects
• ⚙️ Create Custom Projects
• 📚 MMROS DataLoader
• 🖼️ MMRviz

Contribution

We are welcome your contribution!!

Before starting your work, please follow the Contributing Guidelines.