RAI NoMaD

This package provides a ROS2 Node which loads and runs the NoMaD model, that can be dynamically activated and deactivated using ROS2 messages.

Running instructions

1. Setup the ROS2 workspace

In the base directory of the RAI package install dependencies:

poetry install --with nomad

Source the ros installation

source /opt/ros/${ROS_DISTRO}/setup.bash

Run the build process:

colcon build

Setup your shell:

source ./setup_shell.sh

2. Run the node

Run the ROS2 node using ros2 run:

ros2 run rai_nomad nomad --ros-args -p image_topic:=<your_image_topic>

The model will be loaded and ready, but it will not run until you call the /rai_nomad/start service. Then it will start outputting velocity commands and your robot should start moving. You can then stop the model by calling the /rai_nomad/stop service.

Parameters

• model_path: Path to where the model should be downloaded. By default it will be downloaded into the package’s share directory.
• image_topic: The topic where the camera images are being published.
• cmd_vel_topic: The topic where the velocity commands are being published. Default: /cmd_vel.
• linear_vel: Linear velocity scaling of the model output.
• angular_vel: Angular velocity scaling of the model output.
• max_v and max_w: Maximum linear and angular velocities that the model can output.
• rate: The rate at which the model will run.