ROS Index
Repository Summary
| Checkout URI | https://github.com/snt-arg/situational_graphs_reasoning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2024-08-05 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| situational_graphs_reasoning | 0.0.1 |
README
Situational Graphs - Reasoning
Situational Graphs - Reasoning is a ROS2 package for generating in real-time semantic concepts like Rooms and Walls from Wall Surfaces S-Graphs. For that purpose, Graph Neural Networks (GNNs) are used to estimate the existing relations between the wall surfaces.
📜 Table of contents
📖 Published Papers
⚙️ Installation
[!NOTE] Situational Graphs - Reasoning was only tested on Ubuntu 20.04, ROS2 Foxy, Humble Distros. We strongly recommend using cyclone_dds instead of the default fastdds.
📦 Installation with S-Graphs
Follow the S-Graphs installation instructions
📦 Installation From Source
[!IMPORTANT] Before proceeding, make sure you have
rosdepinstalled. You can install it usingsudo apt-get install python3-rosdepIn addition, ssh keys are needed to be configured on you GitHub account. If you haven’t yet configured ssh keys, follow this tutorial
- Update Rosdep:
rosdep init && rosdep update --include-eol-distros
- Create a ROS2 workspace for S-Graphs
mkdir -p $HOME/workspaces && cd $HOME/workspaces
- Clone the S-Graphs repository into the created workspace
git clone git@github.com:snt-arg/situational_graphs_reasoning.git -b develop
[!IMPORTANT] If you have Nvidia GPU please install CUDA from this link. This code has only been tested with CUDA 11.8. If you dont have CUDA S-Graphs will use CPU only.
- Install required dependencies. Change $ROS_DISTRO to your ros2 version.
cd situational_graphs_reasoning && source /opt/ros/$ROS_DISTRO/setup.sh && pip3 install -r requirements.txt
[!NOTE] If you want to compile with debug traces (from backward_cpp) run:
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
🚀 Usage
Follow the S-Graphs instructions to use this package along with all other functionalities.
Or launch situational_graphs_reasoning.py.
⚙️ Configuration files
| File name | Description |
|---|---|
config/same_room_training.json |
Describes the data preprocessing and the GNN hyperparameters for room generation. |
config/same_wall_training.json |
Describes the data preprocessing and the GNN hyperparameters for wall generation. |
🤖 ROS Related
📥 Subscribed Topics
situational_graphs_reasoning_node node
| Topic name | Message Type | Description |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/snt-arg/situational_graphs_reasoning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2024-08-05 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| situational_graphs_reasoning | 0.0.1 |
README
Situational Graphs - Reasoning
Situational Graphs - Reasoning is a ROS2 package for generating in real-time semantic concepts like Rooms and Walls from Wall Surfaces S-Graphs. For that purpose, Graph Neural Networks (GNNs) are used to estimate the existing relations between the wall surfaces.
📜 Table of contents
📖 Published Papers
⚙️ Installation
[!NOTE] Situational Graphs - Reasoning was only tested on Ubuntu 20.04, ROS2 Foxy, Humble Distros. We strongly recommend using cyclone_dds instead of the default fastdds.
📦 Installation with S-Graphs
Follow the S-Graphs installation instructions
📦 Installation From Source
[!IMPORTANT] Before proceeding, make sure you have
rosdepinstalled. You can install it usingsudo apt-get install python3-rosdepIn addition, ssh keys are needed to be configured on you GitHub account. If you haven’t yet configured ssh keys, follow this tutorial
- Update Rosdep:
rosdep init && rosdep update --include-eol-distros
- Create a ROS2 workspace for S-Graphs
mkdir -p $HOME/workspaces && cd $HOME/workspaces
- Clone the S-Graphs repository into the created workspace
git clone git@github.com:snt-arg/situational_graphs_reasoning.git -b develop
[!IMPORTANT] If you have Nvidia GPU please install CUDA from this link. This code has only been tested with CUDA 11.8. If you dont have CUDA S-Graphs will use CPU only.
- Install required dependencies. Change $ROS_DISTRO to your ros2 version.
cd situational_graphs_reasoning && source /opt/ros/$ROS_DISTRO/setup.sh && pip3 install -r requirements.txt
[!NOTE] If you want to compile with debug traces (from backward_cpp) run:
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
🚀 Usage
Follow the S-Graphs instructions to use this package along with all other functionalities.
Or launch situational_graphs_reasoning.py.
⚙️ Configuration files
| File name | Description |
|---|---|
config/same_room_training.json |
Describes the data preprocessing and the GNN hyperparameters for room generation. |
config/same_wall_training.json |
Describes the data preprocessing and the GNN hyperparameters for wall generation. |
🤖 ROS Related
📥 Subscribed Topics
situational_graphs_reasoning_node node
| Topic name | Message Type | Description |
File truncated at 100 lines see the full file