Run SECOND as a ROS Node and publish corresponding custom ROS messages that Autoware IMM_PDA_UKF_Tracker supports

This is a modified and improved version of second_ros using SECOND V1.5 model. It can achieve real time performace on 1080Ti, tested with KITTI rosbag and ouster Lidar data.

Most of the code is from SECOND detector, second_ros, Voxelnet ROS Implementation. Special thanks to @traveller59, @qianguih and cedricxie

Instructions

Step 1: build package

mkdir catkin_ws && cd catkin_ws
git clone https://github.com/pangsu0613/SECOND_ROS_AUTOWARE_TRACKER.git
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. Notice that if you have rospy installed in Python 3, you can still use rosrun to launch SECOND as a ROS node.

source add_paths.sh
pip install --user rospkg catkin_pkg

Step 3: launch SECOND as a ROS node

Play a rosbag in another terminal and start the ros node.

roslaunch second_ros second_kitt.launch