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Installation.md

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Installation

We need to install ROS with Anaconda to subscribe and process the images from ROS publishers. as reference check: https://robostack.github.io/GettingStarted.html

ROS Setup

It is recommended use Mamba with a fresh miniforge installation. Please refer to the Mamba website for detailed instructions: https://mamba.readthedocs.io/en/latest/installation/mamba-installation.html

Installing Mamba to an existing conda environment is not recommended. However, you can install it from the conda-forge channel. In this case, you need to install it in the base environment:

conda install mamba -c conda-forge

Installation of Robostack

This is needed to run ROS inside the Anaconda environment. Create new virtual environment. Please select a suitable version of Python (3.9+):

mamba create -n ros_env python=3.9
mamba activate ros_env

This adds the conda-forge channel to the new created environment configuration

conda config --env --add channels conda-forge

and the robostack channel

conda config --env --add channels robostack-staging

Remove the defaults channel just in case, this might return an error if it is not in the list which is ok

conda config --env --remove channels defaults

Install ros-noetic into the environment (ROS1) only works with ROS1 for now.

mamba install ros-noetic-desktop

Check if roscore runs in new environment.

mamba activate ros_env
roscore

Setup the SAM and Xmem (VOS model)

Requirements:

  • Python 3.9+
  • PyTorch 1.11+ (See PyTorch for installation instructions)
  • torchvision corresponding to the PyTorch version

Install the required packages:

pip install pandas tqdm

Install the Segment Anything Model:

pip install git+https://github.com/facebookresearch/segment-anything.git

Environment setting is completed. Install IST_ROS:

git clone https://github.com/husikl/ist_ros.git
cd ist_ros
mkdir -p data/weights

Install the weights for SAM and XMem

  1. SAM:
wget -P ./data/weights/ https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth
  1. XMem:
wget -P ./data/weights/ https://github.com/hkchengrex/XMem/releases/download/v1.0/XMem.pth
wget -P ./data/weights/ https://github.com/hkchengrex/XMem/releases/download/v1.0/XMem-s012.pth