Implement Core Library for building DeepROS nodes#15
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thomasonzhou merged 22 commits intomainfrom Sep 22, 2025
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Co-authored-by: thomason <84239247+thomasonzhou@users.noreply.github.com>
…o eddy/add_corelib
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This PR implements the core Deep ROS library containing a base node handling backend plugin management and rclcpp_lifecycle.
Specifically it contains the following:
DeepNodeBasea base node that should be used by all other packages. It abstracts away the need for running inference with a backend to just a functionrun_inference.Tensora tensor data structure with abstracted memory management. It stores a pointer to the data which is managed and allocated by the specific backend. Basic Tensor operations are also available.DeepBackendPlugina abstract plugin interface used to define all future backend plugins. A DeepBackendPlugin must define how tensor data should be managed (usingBackendMemoryAllocatorabstract class) and how inference and model management should be ran (withBackendInferenceExecutorabstract class)