Running Hydra - Mokaz/SPARK-martin-project GitHub Wiki

Create a workspace for your Hydra installation

Follow the ROS2 installation guide: https://github.com/MIT-SPARK/Hydra-ROS/blob/ros2/doc/ros2_setup.md

Make sure to place the model file for semantic segmentation in the right place. In the example for running it below, the file ade20k-efficientvit_seg_l2.onnx has been placed in the $HOME/.semantic_inference$ directory.

Copy over UAV launch file

Copy main/hydra/UAV.launch.yaml to the launch folder of hydra_ros

Build the workspace using colcon

Source and run Hydra

cd ~/hydra_ws
source install/setup.bash
ros2 launch hydra_ros UAV.launch.yaml

Run Semantic segmentation

ros2 launch semantic_inference_ros closed_set.yaml model_file:=ade20k-efficientvit_seg_l2.onnx