centerpoint_ws

ROS 2 wrapper for the CenterPoint 3D object detector (Det3D, Waymo model).

• Subscribes: /pointcloud/disturbance (sensor_msgs/PointCloud2)
• Publishes: /detections_vision (vision_msgs/Detection3DArray), /detections_markers (visualization_msgs/MarkerArray)

Topics, QoS and detection thresholds are configured at the top of src/centerpoint_ros/scripts/ros.py.

Build

cd /home/centerpoint_ws
colcon build --symlink-install

Run

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/centerpoint_ws/fastdds.xml
export ROS_DOMAIN_ID=0

source install/setup.bash
ros2 launch centerpoint_ros launch.py

Paths

If cloned elsewhere:

export CENTERPOINT_ROS_ROOT=/path/to/centerpoint_ws/src/centerpoint_ros

Rebuild the CUDA extensions if your PyTorch/CUDA version differs:

cd src/centerpoint_ros/det3d/ops/iou3d_nms && python3 setup.py build_ext --inplace
cd ../dcn && python3 setup.py build_ext --inplace