Semantic Segmentation - Kraft2k/icebox-rover GitHub Wiki

cd jetson-inference

docker/run.sh --ros=foxy

ros2 launch ros_deep_learning segnet.ros2.launch model_name:=fcn-resnet18-deepscene-576x320 input:=csi://0 output:=display://0

ros2 launch ros_deep_learning segnet.ros2.launch model_name:=fcn-resnet18-deepscene-864x480 input:=csi://0 output:=display://0

The SUN RGB-D dataset provides segmentation ground-truth for many indoor objects and scenes commonly found in office spaces and homes.

ros2 launch ros_deep_learning segnet.ros2.launch model_name:=fcn-resnet18-sun input:=csi://0 output:=display://0

ros2 launch ros_deep_learning segnet.ros2.launch model_name:=fcn-resnet18-sun-640x512 input:=csi://0 output:=display://0

ros2 launch ros_deep_learning segnet.ros2.launch model_name:=fcn-resnet18-sun-512x400 input:=csi://0 output:=display://0

ros2 topic list

ros2 topic info /segnet/class_mask

ros2 interface show sensor_msgs/msg/Image

ros2 topic echo /segnet/color_mask

Pinout for PCA9685

Black - GND

White - SCL

Brown - SDA

Red - VCC