A ROS2 node for performing instance segmentation with detectron2. Requires detectron2 to be installed on your system.
This project depends on ROS vision_msgs, which can be installed as follows:
sudo apt install ros-humble-vision-msgs
You can select a specific model using the model_file ros parameter, which specifies a given .yaml file under detectron2/configs. Detectron2 is then initialized with that model, and you can send it images to be segmented through the /detectron/segment service. See the service message specification for details about the output format.
If the publish_visualization parameter is set to true, the node also publishes a version of image annotated with the masks and scores, on a topic specified through the visualization_topic parameter.