rs_maskrcnn

A RoboSherlock package managing the connection an annotation for maskrcnn

Dependencies

The src folder of your catkin workspace must contain the following packages:

• RoboSherlock: https://github.com/RoboSherlock/robosherlock
• mask_rcnn_ros_msgs Msgs: https://github.com/RoboSherlock/mask_rcnn_msgs

Setup

• Clone this repository to the src folder of your workspace
• Open a terminal in your workspace folder and use catkin build (do NOT use catkin_make)
• Source your workspace
• For the provided dockerfile use: sudo docker build -t rs_maskrcnn/docker .

Run

• Start a roscore
• to launch docker with host network: docker run --rm -it --network host rs_maskrcnn/docker
• To launch docker with different network: sudo docker run -it -p 8888:8888 -p 6006:6006 -v ~/:/mask-rcnn-network rs_maskrcnn/docker
• In docker: rosrun mask_rcnn_ros mask_rcnn_service.py
• In your sourced workspace folder, type rosrun robosherlock runAAE _ae:=mongo_maskrcnn_example _vis:=true
  • The _vis tag is optional, if you like to see what the robot sees on your machine
  • The _ae tag however is crucial. It specifies the pipeline processing the vision.

Disclaimer

• This is only an example how to use the mask_rcnn_ros repository https://github.com/tpatten/mask_rcnn_ros within roboherlock
• the model is not trained on our database yet
•