1. Environment Deployment
Download the TROS installation package, copy it to the RDK S100, and extract the files:
mkdir ~/tros
tar -zxvf install-s100.tar.gz -C ~/tros
2. Execution
2.1 BEV Algorithm
cd ~/tros/
source install/local_setup.bash
if [ -L qat ]; then rm qat; fi
ln -s `ros2 pkg prefix hobot_bev`/lib/qat/ qat
ln -s ~/hobot_bev_data/nuscenes_bev_val nuscenes_bev_val
ros2 launch hobot_bev hobot_bev.launch.py
2.2 CenterPoint Algorithm
cd ~/tros/
source install/local_setup.bash
if [ -L qat ]; then rm qat; fi
ln -s `ros2 pkg prefix hobot_centerpoint`/lib/qat/ qat
ln -s ~/centerpoint_data centerpoint_data
ros2 launch hobot_centerpoint hobot_centerpoint.launch.py
3. Visualization
After successful startup, open a browser on a computer within the same network and access the RDK’s IP address at http://IP:8000 (replace “IP” with the actual IP address of the RDK). You will then be able to view the real-time visualization of the algorithm results.
Tip: Right-click → Open the video in a new tab.
BEV:
Centerpoint: