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Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
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Pull Request Overview
This PR adds a new ROS 2 package for EoMT (End-of-Memory Transformer), a semantic segmentation model using DinoV2 backbone, providing complete integration for ROS 2 environments.
Key changes include:
- New ROS 2 package setup with proper build configuration and dependencies
- Launch file for easy deployment with parameter support and optional visualization
- Comprehensive documentation with model specifications and usage instructions
Reviewed Changes
Copilot reviewed 8 out of 9 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| projects/eomt/package.xml | Defines new ROS 2 package with dependencies on mmros and build tools |
| projects/eomt/CMakeLists.txt | Sets up build configuration with C++17, testing, and installation rules |
| projects/eomt/launch/eomt.launch.xml | Launch file for segmentation node with parameter and topic remapping |
| projects/eomt/config/eomt.param.yaml | Model configuration parameters including ONNX path and normalization |
| projects/eomt/README.md | Package README linking to main documentation |
| docs/projects/eomt.md | Complete documentation with model specs, inference times, and usage |
| docs/index.md | Added EoMT entry to supported models table |
| README.md | Added EoMT entry to main project README table |
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Description
This pull request introduces a new ROS 2 package for EoMT, including all necessary configuration, launch, and documentation files to support semantic segmentation using the DinoV2 backbone. The package is set up for easy integration, deployment, and testing within a ROS 2 environment.
New Package Setup and Configuration:
eomt, specifying dependencies, maintainer, and licensing inpackage.xml.CMakeLists.txtto configure the build system, enforce C++17, enable compile commands, and set up testing and installation.config/eomt.param.yaml) specifying model and detector parameters, including ONNX path, precision, and normalization values.Launch and Integration:
launch/eomt.launch.xml) to start the segmentation node and optional visualization, with parameter and topic remapping support.Documentation:
docs/projects/eomt.md) detailing model configuration, ONNX model links, inference times, ROS 2 topics, and usage instructions.How was this PR tested?
Notes for reviewers
None.
Effects on system behavior
None.