Semantic Mapping

.gitignore

@@ -209,3 +209,10 @@ cython_debug/
 marimo/_static/
 marimo/_lsp/
 __marimo__/
+
+# model files
+*.pt
+*.pth
+*.onnx
+*.engine
+*.ts

README.md

@@ -5,6 +5,8 @@ ROS2 perception stack for generalist robotics.
 ## Packages
 
 - **track_anything** - EdgeTAM tracking + 3D segmentation with RGBD
+- **detect_anything** - YOLO-E detection node and utilities
+- **semantic_mapping** - placeholder for future mapping components (currently empty)
 - **vector_perception_utils** - Image and point cloud utilities
 
 ## Installation
@@ -21,6 +23,7 @@ pip install -r requirements.txt
 # Build
 source /opt/ros/jazzy/setup.bash
 colcon build
+```
 
 
 

detect_anything/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.10)
+project(detect_anything)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/DetectionResult.msg"
+  DEPENDENCIES std_msgs sensor_msgs
+)
+
+set(PYTHON_INSTALL_DIR "lib/python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}/site-packages")
+
+install(
+  DIRECTORY detect_anything
+  DESTINATION ${PYTHON_INSTALL_DIR}
+)
+
+install(
+  PROGRAMS
+    scripts/detection_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  FILES resource/detect_anything
+  DESTINATION share/${PROJECT_NAME}/resource
+)
+
+install(
+  DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+set(ENV_HOOK "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/venv_pythonpath.sh.in")
+set(ENV_HOOK_OUT "${CMAKE_CURRENT_BINARY_DIR}/ament_cmake_environment_hooks/venv_pythonpath.sh")
+configure_file(${ENV_HOOK} ${ENV_HOOK_OUT} @ONLY)
+ament_environment_hooks(${ENV_HOOK_OUT})
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

detect_anything/README.md

@@ -0,0 +1,28 @@
+# detect_anything
+
+YOLO-E detection node that publishes `DetectionResult` with cropped masks and an annotated overlay topic.
+
+## What’s inside
+- `detect_anything/detection.py`: detection results container and Ultralytics parsing helpers.
+- `detect_anything/yoloe.py`: YOLO-E wrapper with prompt support and basic filtering.
+- `detect_anything/detection_node.py`: ROS2 node wiring the detector to `DetectionResult`.
+- `msg/DetectionResult.msg`: compressed image + cropped mask array.
+
+## Quick start
+```bash
+source ~/vector_venv/bin/activate
+source /opt/ros/jazzy/setup.bash
+colcon build --packages-select detect_anything
+source install/setup.bash
+
+ros2 run detect_anything detection_node \
+  --ros-args -p model_path:=/path/to/yoloe/models \
+             -p model_name:=yoloe-11s-seg-pf.pt \
+             -p conf:=0.6 \
+             -p max_area_ratio:=0.3 \
+             -p image_topic:=/camera/image
+```
+
+Topics:
+- Publishes `/detection_result` (`detect_anything/DetectionResult`) and `/annotated_image_detection` (`sensor_msgs/Image`).
+- Subscribes to `/camera/image` (or `/camera/image/compressed` if `use_compressed:=true`).

detect_anything/config/objects.yaml

@@ -0,0 +1,46 @@
+# Simple list of object names for prompting YOLO-E
+- chair
+- desk
+- tv_monitor
+- sofa
+- unknown
+- printer
+- coffee machine
+- refrigerator
+- trash can
+- shoe
+- sink
+- table
+- oven
+- bed
+- painting
+- bulletin board
+- plant
+- vase
+- cabinet
+- shelf
+- book
+- cup
+- sculpture
+- keyboard
+- mouse
+- clock
+- phone
+- toilet
+- bathtub
+- microwave oven
+- pan
+- suitcase
+- light
+- curtain
+- whiteboard
+- shower knob
+- bottle
+- water dispenser
+- vending machine
+- laptop
+- bag
+- locker
+- picture
+- cardboard
+- extinguisher

detect_anything/detect_anything/__init__.py

@@ -0,0 +1 @@
+"""detect_anything package."""