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update demo instructions to ros2 #13

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Merged
nathanhhughes merged 1 commit into from
Jul 18, 2025
Merged

update demo instructions to ros2 #13

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11 changes: 7 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ Then, make the workspace and initialize it:
# Setup the workspace
mkdir -p path/to/colcon_ws/src
cd colcon_ws
echo "build: {cmake-args: [--no-warn-unused-cli, -DCMAKE_BUILD_TYPE=Release, -DCONFIG_UTILS_ENABLE_ROS=OFF]}" > colcon_defaults.yaml
echo "build: {cmake-args: [--no-warn-unused-cli, -DCMAKE_BUILD_TYPE=Release]}" > colcon_defaults.yaml
```

</details>
Expand All @@ -77,13 +77,16 @@ Instead, the intention is for the launch files in `semantic_inference` to be use
More details about including them can be found in the [closed-set](docs/closed_set.md#using-closed-set-segmentation-online) and [open-set](docs/open_set.md#using-open-set-segmentation-online) documentation.
However, it is possible to do something like
```
roslaunch semantic_inference_ros semantic_inference.launch
ros2 launch semantic_inference_ros closed_set.launch.yaml
```
and then
```
rosbag play path/to/rosbag /some/color/image/topic:=/semantic_inference/color/image_raw
ros2 bag play path/to/rosbag --remap /some/color/image/topic:=/color/image_raw
```
in a separate terminal to quickly test a particular segmentation model. The result can be visualized via
```
ros2 run image_view image_view --ros-args -r image:=/semantic_overlay/image_raw
```
in a separate terminal to quickly test a particular segmentation model.

> **Note** </br>
> This usage (remapping the rosbag output topic) is a little bit backwards from how remappings from ROS are normally specified and is because launch files are unable to take remappings from the command line.
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