Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]
Messages
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Plugins
Recent questions tagged autoware_tensorrt_bevdet at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Cynthia
- Yuxuan Liu
Authors
- Cynthia
tensorrt_bevdet
Purpose
The core algorithm, named BEVDet
, it unifies multi-view images into the perspective of BEV for 3D object detection task.
Inner-workings / Algorithms
Cite
- Junjie Huang, Guan Huang, “BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment”, [ref]
- bevdet_vendor package are copied from the original codes (The TensorRT, C++ implementation by LCH1238) and modified.
- This package is ported version toward Autoware from bevdet_vendor.
Inputs / Outputs
Inputs
Name | Type | Description |
---|---|---|
~/input/topic_img_front_left |
sensor_msgs::msg::Image |
input front_left camera image |
~/input/topic_img_front |
sensor_msgs::msg::Image |
input front camera image |
~/input/topic_img_front_right |
sensor_msgs::msg::Image |
input front_right camera image |
~/input/topic_img_back_left |
sensor_msgs::msg::Image |
input back_left camera image |
~/input/topic_img_back |
sensor_msgs::msg::Image |
input back camera image |
~/input/topic_img_back_right |
sensor_msgs::msg::Image |
input back_right camera image |
~/input/topic_img_front_left/camera_info |
sensor_msgs::msg::CameraInfo |
input front_left camera parameters |
~/input/topic_img_front/camera_info |
sensor_msgs::msg::CameraInfo |
input front camera parameters |
~/input/topic_img_front_right/camera_info |
sensor_msgs::msg::CameraInfo |
input front_right camera parameters |
~/input/topic_img_back_left/camera_info |
sensor_msgs::msg::CameraInfo |
input back_left camera parameters |
~/input/topic_img_back/camera_info |
sensor_msgs::msg::CameraInfo |
input back camera parameters |
~/input/topic_img_back_right/camera_info |
sensor_msgs::msg::CameraInfo |
input back_right camera parameters |
Outputs
Name | Type | Description |
---|---|---|
~/output/boxes |
autoware_perception_msgs::msg::DetectedObjects |
detected objects |
~/output_bboxes |
visualization_msgs::msg::MarkerArray |
detected objects for nuScenes visualization |
How to Use Tensorrt BEVDet Node
Prerequisites
- Tensorrt 10.8.0.43
- CUDA 12.4
- cuDNN 8.9.2
Trained Models
Download the trained models with the instructions in Autoware artifacts.
The BEVDet
model was trained in NuScenes
dataset for 20 epochs.
Test Tensorrt BEVDet Node with Nuscenes
-
Integrate this branch changes in your autoware_universe/perception directory
-
Include this bevdet_vendor pr in src/universe/external/bevdet_vendor as this supports fp16 precision and api support for Tensorrt 10.x.x
-
To play ros2 bag of nuScenes data
cd autoware/src
git clone https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge
cd ..
# Open the launch file to configure dataset settings:
nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml
# Update the following lines with the correct NuScenes dataset path and set the publishing frequency to 10 Hz for optimal data streaming:
<arg name="NUSCENES_DIR" default="<nuscenes_dataset_path>"/>
<arg name="NUSCENES_VER" default="v1.0-trainval"/>
<arg name="UPDATE_FREQUENCY" default="10.0"/>
# Open the ros_utils script:
nano src/ros2_dataset_bridge/ros2_dataset_bridge/utils/ros_util.py
# Modify the encoding to bgr8 at line 92:
image_msg = self.cv_bridge.cv2_to_imgmsg(image, encoding="bgr8")
- Build the
autoware_tensorrt_bevdet
andros2_dataset_bridge
packages
```bash
# Build autoware_tensorrt_bevdet
colcon build –packages-up-to autoware_tensorrt_bevdet
# Build ros2_dataset_bridge
File truncated at 100 lines see the full file
Changelog for package autoware_tensorrt_bevdet
0.47.0 (2025-08-11)
- feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
- Contributors: rahulsundar-mcw
Package Dependencies
System Dependencies
Name |
---|
libopencv-dev |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/tensorrt_bevdet.launch.xml
-
- input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
- input/img_front [default: /nuscenes/CAM_FRONT/image]
- input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
- input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
- input/img_back [default: /nuscenes/CAM_BACK/image]
- input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
- output/boxes [default: /bboxes]
- output/bboxes [default: /debug/markers_boxes]
- input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
- input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
- input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
- input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
- input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
- input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
- data_path [default: $(env HOME)/autoware_data]
- model_name [default: bevdet_one_lt_d]
- model_path [default: $(var data_path)/tensorrt_bevdet]
- model_config [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet_r50_4dlongterm_depth.yaml]
- param_file [default: $(find-pkg-share autoware_tensorrt_bevdet)/config/bevdet.param.yaml]