What Is This?

epd_core is a ROS2 package that accelerates the training and deployment of Computer Vision (CV) models for industries. Unlike easy_perception_deployment, epd_core aims to integrate contemporary Detectron2 as well as restructure the vision processing workflow into more modular components for better debugging and higher performance.

Rather than provide a general tool kit for ROS 2 ready vision-processing, epd_core focuses on higher accuracy and performance of object detection and pose estimation.

Note

To be dockerised for ease-of-use.

Build 🔨

cd $HOME

mkdir -p epd_ws/src && cd epd_ws/src

git clone https://github.com/cardboardcode/epd_core.git --single-branch --branch forward-dev --depth 1

cd $HOME/epd_ws

source /opt/ros/humble/setup.bash

rosdep install --from-paths src --ignore-src --rosdistro=humble -y

colcon build --symlink-install

Run ▶️

cd $HOME/epd_ws

source install/setup.bash

ros2 launch epd_core run.launch.py