This project including the PointPillars using TensorRT and integrates it with ROS1 for real-time point cloud processing and visualization on Jetson Orin.
ROS1 install: https://blog.csdn.net/lxr0106/article/details/136328659 or https://wiki.ros.org/noetic/Installation
Environment refers to CUDA-PointPillars: https://github.com/NVIDIA-AI-IOT/CUDA-PointPillars
install jsk: sudo apt-get install ros-noetic-jsk-rviz-plugins (ros-xxxx(your ros))
1.git clone https://github.com/wayyeah/PointPillarTensorRT-ROS.git
2.if TensorRT==8.4.x, run mv src/pointpillar/model/pointpillar.onnx src/pointpillar.onnx and please modify the TensorRT path in src/pointpillars/CMakeLists.txt Line 64 65
3.`` `cd PointPillarTensorRT-ROS```
4.catkin_make
5.download KITTI bag: https://pan.baidu.com/s/14lB2Djw6iiivfuhaINgkyA?pwd=asr8 password: asr8
6.roscore#new terminate
7.rosbag play kitti_2011_09_26_drive_0009_synced.bag#new terminate
8.source devel/setup.zsh #(zsh)
or source devel/setup.sh #(bash)
9.rosrun pointpillar pointpillar
if show the message trt_infer: 6: The engine plan file is generated on an incompatible device, expecting compute 7.2 got compute 8.7, please rebuild., please delete pointpillar.onnx.cache and run again
10.rviz#new terminate
11.add topic
