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Pull Request Overview
This PR introduces a new ROS 2 package for DEIMv2, an object detection model, providing complete infrastructure for building, launching, and using the model in a ROS 2 environment.
- Adds a complete ROS 2 package structure with CMakeLists.txt, package.xml, and Apache 2.0 license
- Provides launch configuration and parameter files for running the detector with optional visualization
- Creates comprehensive documentation describing the model, ONNX configuration, and ROS 2 interfaces
Reviewed Changes
Copilot reviewed 7 out of 8 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| projects/deimv2/package.xml | ROS 2 package definition with dependencies and metadata |
| projects/deimv2/launch/deimv2.launch.xml | Launch file for detector and visualizer nodes with parameter configuration |
| projects/deimv2/config/deimv2.param.yaml | Model-specific TensorRT and detector parameters |
| projects/deimv2/README.md | Package README pointing to documentation |
| projects/deimv2/LICENSE | Apache 2.0 license file |
| projects/deimv2/CMakeLists.txt | CMake build configuration for the ROS 2 package |
| docs/projects/deimv2.md | Comprehensive documentation with model details and usage instructions |
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Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
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Description
This pull request introduces a new ROS 2 package for DEIMv2, which includes all necessary configuration, documentation, and licensing files to support building, launching, and using the DEIMv2 object detection model. The changes provide a complete setup for running inference with the model, including ONNX model references, launch configuration, and ROS topic interfaces.
New Package Introduction and Documentation:
CMakeLists.txt,package.xml, and Apache 2.0LICENSEto define the package, its dependencies, and legal terms. [1] [2] [3]docs/projects/deimv2.mddescribing the model, ONNX configuration, inference times, ROS 2 topic interfaces, and launch instructions. TheREADME.mdin the package points to this documentation. [1] [2]Configuration and Launch Setup:
deimv2.launch.xmlto configure and start the detector and optional visualizer nodes, including parameter and topic remapping options.deimv2.param.yamlwith model-specific TensorRT and detector settings such as ONNX path, precision, normalization parameters, and score threshold.How was this PR tested?
Screencast.from.09-28-2025.04.23.31.AM.webm
Notes for reviewers
None.
Effects on system behavior
None.