mseg_semantic_ros

ROS 2 implementation of mseg-semantic.

Instalation

Follow install instructions for:

https://github.com/mseg-dataset/mseg-semantic and https://github.com/mseg-dataset/mseg-api

or

cd ~/
git clone https://github.com/mseg-dataset/mseg-semantic
pip install -e mseg-semantic
git clone https://github.com/mseg-dataset/mseg-api
pip install -e mseg-api

Colcon build

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install

Download Weights from here (MSeg Pre-trained Models)

Set model name and model path in /cfg/default_config_360_ms.yaml file

Run

ros2 run mseg_semantic_ros sem_seg_node

Input topic

• /camera/color/image_raw

Output topic

• /camera/semseg/image