Run SECOND as a ROS Node

This project is still work in progress. Feel free to make pull requests and improve the performance together.

It is mostly based on SECOND detector and Voxelnet ROS Implementation. Special thanks to @traveller59, @tigerk0430 and @qianguih!

Instructions

Make sure to modify the paths in the scripts based on your setting accordingly.

Step 1: build package

mkdir catkin_ws && cd catkin_ws
git clone https://github.com/cedricxie/second_ros
catkin_make && source devel/setup.bash

Step 2: create environment for SECOND

Follow installation and dataset preparation instruction at https://github.com/traveller59/second.pytorch. Miniconda is used to configure the dependencies. Notice that if you have rospy installed in Python 3, you can still use rosrun to launch SECOND as a ROS node.

conda env create -n py36 -f environment.yml
conda activate py36
source add_paths.sh
pip install --user rospkg catkin_pkg

Step 3: launch SECOND as a ROS node

Play a bag from KITTI and see the result!

roslaunch second_ros second_kitt.launch

Video

Check out the SECOND in Rviz at link. The ROS bag is from KITTI raw dataset 2011_09_26_drive_0005.