24 yolo node for instance segmentation

.devcontainer/devcontainer.json

@@ -0,0 +1,37 @@
+{
+    "name": "vortex-image-segmentation-devcontainer",
+    "image": "vortex-image-segmentation:latest",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.shell.linux": "/bin/bash"
+            },
+            "extensions": [
+                "ms-azuretools.vscode-docker",
+                "ms-vscode.cpptools",
+                "ranch-hand-robotics.rde-pack",
+                "ms-python.vscode-pylance",
+                "twxs.cmake",
+                "ms-vsliveshare.vsliveshare",
+                "eamodio.gitlens",
+                "njpwerner.autodocstring",
+                "cschlosser.doxdocgen",
+                "xaver.clang-format",
+                "visualstudioexptteam.vscodeintellicode",
+                "ms-vscode-remote.remote-ssh",
+                "gxl.git-graph-3",
+                "ms-vscode-remote.remote-containers",
+                "gruntfuggly.todo-tree"
+            ]
+        }
+    },
+    "remoteUser": "devuser",
+    "workspaceFolder": "/ros2_ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws,type=bind,consistency=cached",
+    "runArgs": [
+        "--privileged",
+        "--network=host",
+        "--ipc=host",
+        "--user=1000:1000"
+    ]
+}

.dockerignore

@@ -0,0 +1,30 @@
+# Ignore build artifacts and large/runtime folders
+build/
+install/
+log/
+*.log
+
+# Docker and local config
+docker/
+.dockerignore
+
+# VCS
+.git
+.gitignore
+
+# VS Code
+.vscode/
+
+# Python
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+venv/
+.env
+
+# Misc
+*.swp
+*.swo
+node_modules/
+bags/

.gitignore

@@ -26,6 +26,18 @@ share/python-wheels/
 *.egg
 MANIFEST
 
+#VSCode
+.vscode/
+
+# OS Generated files
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
 # PyInstaller
 #  Usually these files are written by a python script from a template
 #  before PyInstaller builds the exe, so as to inject date/other infos into it.
@@ -128,6 +140,10 @@ ENV/
 env.bak/
 venv.bak/
 
+# Pipenv files
+Pipfile
+Pipfile.lock
+
 # Spyder project settings
 .spyderproject
 .spyproject
@@ -163,5 +179,14 @@ runs/
 *.pt
 *jpg
 
+# ROS 2 build artifacts
+install/
+build/
+log/
+
 # data
-data/
+bags/
+
+# Training outputs and Roboflow datasets
+results/
+roboflow_data/

docker/Dockerfile

@@ -0,0 +1,77 @@
+# ----------------------------------------------------------------------------
+# Base Image
+# ----------------------------------------------------------------------------
+ARG BASE_IMAGE=ros:humble
+FROM ${BASE_IMAGE}
+
+# ----------------------------------------------------------------------------
+# Install System & ROS Dependencies
+# ----------------------------------------------------------------------------
+USER root
+SHELL ["/bin/bash", "-c"]
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV WORKSPACE=/ros2_ws
+WORKDIR ${WORKSPACE}
+ARG ROS_DISTRO=humble
+
+RUN apt-get update && apt-get install -y \
+    git \
+    python3-rosdep \
+    python3-vcstool \
+    python3-pip \
+    ros-${ROS_DISTRO}-ros-core \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-pcl-conversions \
+    libopencv-dev \
+    libpcl-dev \
+    python3-colcon-common-extensions \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# ----------------------------------------------------------------------------
+# Ensure Cython is installed (for building packages like lapx)
+# ----------------------------------------------------------------------------
+RUN pip3 install cython
+
+
+# ----------------------------------------------------------------------------
+# Copy requirements.txt and install Python dependencies first for better caching
+# ----------------------------------------------------------------------------
+COPY requirements.txt ${WORKSPACE}/requirements.txt
+RUN pip3 install -r ${WORKSPACE}/requirements.txt
+
+# ----------------------------------------------------------------------------
+# Copy Workspace Files
+# ----------------------------------------------------------------------------
+COPY . ${WORKSPACE}
+
+# ----------------------------------------------------------------------------
+# Install ROS dependencies
+# ----------------------------------------------------------------------------
+RUN rosdep update && rosdep install --from-paths . --ignore-src -r -y
+
+# ----------------------------------------------------------------------------
+# Create non-root user
+# ----------------------------------------------------------------------------
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+ARG USERNAME=devuser
+RUN groupadd --gid ${GROUP_ID} ${USERNAME} || true && \
+    useradd --uid ${USER_ID} --gid ${GROUP_ID} -m -s /bin/bash ${USERNAME} || true && \
+    apt-get update && apt-get install -y sudo && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}
+
+# ----------------------------------------------------------------------------
+# Source user bashrc_extra.sh in bashrc
+# ----------------------------------------------------------------------------
+RUN echo "if [ -f /ros2_ws/scripts/bashrc_extra.sh ]; then source /ros2_ws/scripts/bashrc_extra.sh; fi" >> ~/.bashrc
+
+# ----------------------------------------------------------------------------
+# Default command
+# ----------------------------------------------------------------------------
+CMD ["bash"]

docker/build.sh

@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Environment Variables
+# ------------------------------------------------------------------------------
+IMAGE="vortex-image-segmentation:latest"   # Docker image name/tag
+BASE_IMAGE="ros:humble"                    # Base image for Docker builds
+
+# ------------------------------------------------------------------------------
+# Platform Detection
+# ------------------------------------------------------------------------------
+ARCHITECTURE="$(uname -m)"
+if [[ "$ARCHITECTURE" == "arm64" || "$ARCHITECTURE" == "aarch64" ]]; then
+    PLATFORM="linux/arm64"
+elif [[ "$ARCHITECTURE" == "x86_64" ]]; then
+    PLATFORM="linux/amd64"
+else
+    echo "Unsupported architecture: $ARCHITECTURE" >&2
+    exit 1
+fi
+
+# ------------------------------------------------------------------------------
+# Locate Script and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+# ------------------------------------------------------------------------------
+# Build Start Info
+# ------------------------------------------------------------------------------
+echo "======================================================================"
+echo " Building Docker Image"
+echo "   • PLATFORM:       $PLATFORM"
+echo "   • BASE_IMAGE:     $BASE_IMAGE"
+echo "   • IMAGE:          $IMAGE"
+echo "   • BUILD CONTEXT:  $WORKSPACE"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Build Docker Image with Buildx
+# ------------------------------------------------------------------------------
+docker buildx build \
+    --platform "$PLATFORM" \
+    --build-arg BASE_IMAGE="$BASE_IMAGE" \
+    --build-arg USER_ID="$(id -u)" \
+    --build-arg GROUP_ID="$(id -g)" \
+    --tag "$IMAGE" \
+    --file "$SCRIPT_DIR/Dockerfile" \
+    --load \
+    "$WORKSPACE"
+
+echo ""
+echo "======================================================================"
+echo " Successfully built image '$IMAGE' for platform '$PLATFORM'"
+echo "======================================================================"

docker/run.sh

@@ -0,0 +1,33 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Image Configuration
+# ------------------------------------------------------------------------------
+IMAGE="vortex-image-segmentation:latest"  # Default Docker image name/tag
+
+# ------------------------------------------------------------------------------
+# Locate Script Directory and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+echo "======================================================================"
+echo " Running Container"
+echo "   • IMAGE:          $IMAGE"
+echo "   • Volume mount:   $WORKSPACE -> /ros2_ws"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Run Docker Container
+# ------------------------------------------------------------------------------
+docker run -it --rm \
+    --user "$(id -u):$(id -g)" \
+    --privileged \
+    --network host \
+    --ipc=host \
+    -v "$WORKSPACE":/ros2_ws \
+    -w /ros2_ws \
+    "$IMAGE" \
+    /bin/bash

scripts/bashrc_extra.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# /ros2_ws/scripts/bashrc_extra.sh for ROS 2 container
+
+# Print actions for clarity
+if [ -f /opt/ros/humble/setup.bash ]; then
+    echo "[bashrc_extra] Sourcing ROS 2 underlay: /opt/ros/humble/setup.bash"
+    source /opt/ros/humble/setup.bash
+else
+    echo "[bashrc_extra] ROS 2 underlay not found: /opt/ros/humble/setup.bash"
+fi
+
+if [ -f /ros2_ws/install/setup.bash ]; then
+    echo "[bashrc_extra] Sourcing workspace overlay: /ros2_ws/install/setup.bash"
+    source /ros2_ws/install/setup.bash
+else
+    echo "[bashrc_extra] Workspace overlay not found: /ros2_ws/install/setup.bash"
+fi
+
+# Add your custom shell commands, aliases, or environment variables below

vortex_image_segmentation/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

vortex_image_segmentation/launch/yolo_segmentation.launch.py

@@ -0,0 +1,16 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='vortex_image_segmentation',
+            executable='yolo_seg_node',
+            name='yolo_segmentation_node',
+            output='screen',
+            parameters=[
+                '/ros2_ws/vortex_image_segmentation/params/yolo_params.yaml'
+            ]
+        )
+    ])

vortex_image_segmentation/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vortex_image_segmentation</name>
+  <version>0.0.0</version>
+  <description>Package for image segmentation nodes</description>
+  <maintainer email="mjengesv@ntnu.no">Mads Engesvoll</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

vortex_image_segmentation/params/yolo_params.yaml

@@ -0,0 +1,10 @@
+yolo_segmentation_node:
+  ros__parameters:
+    model_path: "/ros2_ws/yolo_roboflow_training/results/custom_yolov89/weights/last.pt"
+    device: "cpu"
+    imgsz: 640
+    confidence_threshold: 0.2
+    max_detections: 1
+    compile: True
+
+    debug: True

vortex_image_segmentation/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vortex_image_segmentation
+[install]
+install_scripts=$base/lib/vortex_image_segmentation