Advantech Robotic Suite/Container/Openvino Object Detection ROS Container - Revision history

Ray.zheng at 02:10, 17 December 2024

2024-12-17T02:10:47Z

Ray.zheng at 02:03, 17 December 2024

2024-12-17T02:03:21Z

Ray.zheng at 02:01, 17 December 2024

2024-12-17T02:01:51Z

Ray.zheng at 08:49, 11 December 2024

2024-12-11T08:49:54Z

Ray.zheng at 08:30, 11 December 2024

2024-12-11T08:30:17Z

Ray.zheng at 08:19, 11 December 2024

2024-12-11T08:19:02Z

Ray.zheng at 07:59, 11 December 2024

2024-12-11T07:59:47Z

Ray.zheng at 07:16, 10 December 2024

2024-12-10T07:16:27Z

Ray.zheng: Created page with "= Openvino Object Detection ROS Container = Develop ROS(foxy or humble) container image that assists developers in building its own ROS containerized applications. == How To..."

2024-12-10T07:05:13Z

Created page with "= Openvino Object Detection ROS Container = Develop ROS(foxy or humble) container image that assists developers in building its own ROS containerized applications. == How To..."

New page

= Openvino Object Detection ROS Container =

Develop ROS(foxy or humble) container image that assists developers in building its own ROS containerized applications.

== How To ==

=== Start docker container ===

'''Step1: Launch the docker container of dev-ros2-<ROS_DISTRO>'''
<syntaxhighlight lang="bash">
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh dev-ros2-<ROS_DISTRO>
</syntaxhighlight>

'''Step2: Accessing the container for development and debugging'''
<syntaxhighlight lang="bash">
$ docker exec -it dev-ros2-<ROS_DISTRO> bash
</syntaxhighlight>

 

=== Examples ===

Examples demonstration on how to subscribe to and control services of other ROS2 nodes.

*'''[[Advantech_Robotic_Suite/Sample_Node#c.2B.2B_sample|C++ sample]]'''
*'''[[Advantech_Robotic_Suite/Sample_Node#rclnodejs_sample|rclnodejs sample]]'''
*'''[[Advantech_Robotic_Suite/Sample_Node#rclpy_sample|rclpy sample]]'''
*'''[[Advantech_Robotic_Suite/SUSI_Node|SUSI Node]]'''
*'''[[Advantech_Robotic_Suite/Modbus-Master_Node|Modbus-Master Node]]'''
*'''[[Advantech_Robotic_Suite/OPCUAClient_Node|OPCUAClient Node]]'''<br/>  

=== Stop docker container ===

<syntaxhighlight lang="bash">
$ cd /usr/local/Advantech/ros/container/docker
$ ./stop.sh dev-ros2-<ROS_DISTRO>
</syntaxhighlight>

 

== Build Your Docker Container ==

To build a Docker container for your ROS2 application and integrate Advantech's add-ons services, you can following the steps.

=== Step1: Define a Dockerfile ===

Create a file called "Dockerfile" that specifies the instructions for building the container based on '''dev-ros2-<ROS_DISTRO>'''. This file includes details such as the base image, dependencies, environment variables, and commands to run inside the container.
<pre>FROM advigw/dev-ros2-<ROS_DISTRO>:1.0.0

# 1. Copy prerequisites of your application into the container
# WORKDIR /root
# COPY prerequisite/<your_application> /root/prerequisite

# 2. Install dependencies or libraries
# RUN apt-get update
# RUN apt-get install <some_dependency>

# 3. Execute your application automatically upon container startup.
# CMD [<application_command>]
</pre>

=== Step2: Build the Docker image ===

Use the Docker command-line to build the Docker image based on the Dockerfile. This process involves pulling the necessary base image, executing the instructions in the Dockerfile, and creating a layered image with all the specified components.
<syntaxhighlight lang="bash">
$ docker build -t ros-example -f Dockerfile .
</syntaxhighlight>

=== Step3: Define the Docker Compose services ===

Create a file called "docker-compose.yml", in the Docker Compose file, define the services, their image references, and any necessary configurations such as environment variables, port mappings, volume bindings, etc. Use the syntax provided by Docker Compose to define each service.
<pre>version: '2.1'

services:
ros-example:
image: ros-example
container_name: ros-example
restart: always
networks:
- adv-ros-network
logging:
options:
max-size: 10M
environment:
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID}

networks:
adv-ros-network:
name: adv-ros-network
</pre>

=== Step4: Start the containers using Docker Compose ===

Execute the docker-compose up command in the directory where the Docker Compose file is located. This command will start the containers as defined in the Compose file.<br/> <span style="color:red;">Note: When using the docker-compose command, please avoid using 'sudo' if you need to use the ROS_DOMAIN_ID environment variable. Otherwise, the variable may not be found during execution.</span>
<syntaxhighlight lang="bash">
$ docker-compose -f docker-compose.yml up -d
</syntaxhighlight>

=== Step5: Test and validate ===

Open a new interactive bash shell within the container.
<syntaxhighlight lang="bash">
$ docker exec -it ros-example bash
</syntaxhighlight>

Then test [[#Examples|ROS2 Example]] and your applications in container.

@@ Line 1: / Line 1: @@
 = Openvino Object Detection ROS Container =
-A pre-configured container that integrates the OpenVINO toolkit with ROS for efficient and accurate object detection in robotic applications. OpenVINO supports both '''NPU''' and '''iGPU''' acceleration, but the availability depends on the system's hardware and environment compatibility.
+A pre-configured container that integrates the [https://github.com/intel/ros2_openvino_toolkit OpenVINO toolkit with ROS] for efficient and accurate object detection in robotic applications. OpenVINO supports both '''NPU''' and '''iGPU''' acceleration, but the availability depends on the system's hardware and environment compatibility.
 == How To ==
@@ Line 15: / Line 15: @@
 === Modify config file ===
 * Openvino config file
-This file can be used to configure the input source, model, output, etc. For detailed configuration instructions, please refer to the [https://github.com/intel/ros2_openvino_toolkit ros2_openvino_toolkit] GitHub.
+This file can be used to configure the input source, model, output, etc. For detailed configuration instructions, please refer to the [https://github.com/intel/ros2_openvino_toolkit/tree/master/sample/param ros2_openvino_toolkit] GitHub.
 <syntaxhighlight lang="bash">
 $ vim /usr/local/Advantech/ros/container/ros-extension/openvino_object_detection-ros2-humble/share/pipeline_object.yaml
@@ Line 21: / Line 21: @@
 * Openvino launch file
-This file can be used to configure how to launch openvino ros2 node. For detailed configuration instructions, please refer to the [https://github.com/intel/ros2_openvino_toolkit ros2_openvino_toolkit] GitHub.
+This file can be used to configure how to launch openvino ros2 node. For detailed configuration instructions, please refer to the [https://github.com/intel/ros2_openvino_toolkit/tree/master/sample/launch ros2_openvino_toolkit] GitHub.
 <syntaxhighlight lang="bash">
 $ vim /usr/local/Advantech/ros/container/ros-extension/openvino_object_detection-ros2-humble/share/pipeline_object.launch.py

@@ Line 1: / Line 1: @@
 = Openvino Object Detection ROS Container =
-A pre-configured container that integrates the OpenVINO toolkit with ROS for efficient and accurate object detection in robotic applications. OpenVINO supports both '''NPU''' and '''iGPU''' acceleration, but the availability depends on the host system's hardware and environment compatibility.
+A pre-configured container that integrates the OpenVINO toolkit with ROS for efficient and accurate object detection in robotic applications. OpenVINO supports both '''NPU''' and '''iGPU''' acceleration, but the availability depends on the system's hardware and environment compatibility.
 == How To ==

@@ Line 1: / Line 1: @@
 = Openvino Object Detection ROS Container =
-A pre-configured container that integrates OpenVINO toolkit with ROS for efficient and accurate object detection in robotic applications.
+A pre-configured container that integrates the OpenVINO toolkit with ROS for efficient and accurate object detection in robotic applications. OpenVINO supports both '''NPU''' and '''iGPU''' acceleration, but the availability depends on the host system's hardware and environment compatibility.
 == How To ==

@@ Line 8: / Line 8: @@
 <syntaxhighlight lang="bash">
 $ wget https://iedgeblob.blob.core.windows.net/iedge-public/robotic_suite_extention_container/openvino_object_detection-ros2-humble-1.0.0-Ubuntu_x86.run
 $ sudo ./openvino_object_detection-ros2-humble-1.0.0-Ubuntu_x86.run
 </syntaxhighlight>

@@ Line 5: / Line 5: @@
 == How To ==
-=== Download container ===
+=== Download and install container ===
 <syntaxhighlight lang="bash">
-$ wget
+$ wget https://iedgeblob.blob.core.windows.net/iedge-public/robotic_suite_extention_container/openvino_object_detection-ros2-humble-1.0.0-Ubuntu_x86.run
 </syntaxhighlight>
 <br>

← Older revision		Revision as of 08:19, 11 December 2024
Line 41:		Line 41:
	[[File:ROS2 openvino object detection rviz.png\|none\|ROS2 openvino object detection rviz]]		[[File:ROS2 openvino object detection rviz.png\|none\|ROS2 openvino object detection rviz]]

		+	<br>
		+
		+	=== Quick start script ===
		+	A quickstart script for launch OpenVINO object detection and RViz2. Users can customize this script for their own projects.
		+	<syntaxhighlight lang="bash">
		+	$ cd /usr/local/Advantech/ros/container/docker/user-quick-scripts
		+	$ ./openvino-object-detection_rviz2.sh
		+	</syntaxhighlight>