feat(autoware_tensorrt_bevdet): add new 3d object detection method #7956
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <!-- Camera parameters --> | ||
| <arg name="input/camera0/image"/> | ||
| <arg name="input/camera0/info"/> | ||
| <arg name="input/camera1/image"/> | ||
| <arg name="input/camera1/info"/> | ||
| <arg name="input/camera2/image"/> | ||
| <arg name="input/camera2/info"/> | ||
| <arg name="input/camera3/image"/> | ||
| <arg name="input/camera3/info"/> | ||
| <arg name="input/camera4/image"/> | ||
| <arg name="input/camera4/info"/> | ||
| <arg name="input/camera5/image"/> | ||
| <arg name="input/camera5/info"/> | ||
| <arg name="input/camera6/image"/> | ||
| <arg name="input/camera6/info"/> | ||
| <arg name="input/camera7/image"/> | ||
| <arg name="input/camera7/info"/> | ||
| <arg name="number_of_cameras"/> | ||
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| <!-- Model parameters --> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
| <arg name="bevdet_model_name" default="bevdet_one_lt_d"/> | ||
|
Check warning on line 24 in launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
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| <arg name="bevdet_model_path" default="$(var data_path)/tensorrt_bevdet"/> | ||
|
Check warning on line 25 in launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
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| <!-- BEVDet --> | ||
| <group> | ||
| <push-ros-namespace namespace="bevdet"/> | ||
| <include file="$(find-pkg-share autoware_tensorrt_bevdet)/launch/tensorrt_bevdet.launch.xml"> | ||
| <arg name="input/img_fl" value="$(var input/camera0/image)"/> | ||
| <arg name="input/img_fl/camera_info" value="$(var input/camera0/info)"/> | ||
| <arg name="input/img_f" value="$(var input/camera1/image)"/> | ||
| <arg name="input/img_f/camera_info" value="$(var input/camera1/info)"/> | ||
| <arg name="input/img_fr" value="$(var input/camera2/image)"/> | ||
| <arg name="input/img_fr/camera_info" value="$(var input/camera2/info)"/> | ||
| <arg name="input/img_bl" value="$(var input/camera3/image)"/> | ||
| <arg name="input/img_bl/camera_info" value="$(var input/camera3/info)"/> | ||
| <arg name="input/img_b" value="$(var input/camera4/image)"/> | ||
| <arg name="input/img_b/camera_info" value="$(var input/camera4/info)"/> | ||
| <arg name="input/img_br" value="$(var input/camera5/image)"/> | ||
| <arg name="input/img_br/camera_info" value="$(var input/camera5/info)"/> | ||
| <arg name="output/boxes" value="boxes"/> | ||
| <arg name="data_path" value="$(var data_path)"/> | ||
| <arg name="model_name" value="$(var bevdet_model_name)"/> | ||
| <arg name="model_path" value="$(var bevdet_model_path)"/> | ||
| </include> | ||
| </group> | ||
| </launch> | ||
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| cmake_minimum_required(VERSION 3.17) | ||
| project(autoware_tensorrt_bevdet) | ||
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| add_compile_options(-W) | ||
| add_compile_options(-std=c++17) | ||
| set(CMAKE_CXX_FLAGS_RELEASE "-Wno-deprecated-declarations -O2") | ||
| set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++17 -O0 -Xcompiler -fPIC -g -w -gencode=arch=compute_86,code=sm_86") | ||
| find_package(tensorrt_common) | ||
| if(NOT ${tensorrt_common_FOUND}) | ||
| message(WARNING "The tensorrt_common package is not found. Please check its dependencies.") | ||
| return() | ||
| endif() | ||
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| find_package(ament_cmake REQUIRED) | ||
| find_package(cudnn_cmake_module REQUIRED) | ||
| find_package(tensorrt_cmake_module REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(yaml-cpp REQUIRED) | ||
| find_package(Eigen3 REQUIRED) | ||
| find_package(OpenCV REQUIRED) | ||
| find_package(PCL REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
| find_package(pcl_conversions REQUIRED) | ||
| find_package(cv_bridge REQUIRED) | ||
| find_package(tf2_geometry_msgs REQUIRED) | ||
| find_package(autoware_perception_msgs REQUIRED) | ||
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| find_package(CUDA REQUIRED) | ||
| find_package(CUDAToolkit) | ||
| find_package(CUDNN) | ||
| find_package(TENSORRT) | ||
| if(NOT (CUDAToolkit_FOUND AND CUDNN_FOUND AND TENSORRT_FOUND)) | ||
| message(WARNING "cuda, cudnn, tensorrt libraries are not found") | ||
| return() | ||
| endif() | ||
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| include_directories( | ||
| include | ||
| SYSTEM | ||
| ${YAML_CPP_INCLUDE_DIRS} | ||
| ${EIGEN3_INCLUDE_DIRS} | ||
| ${OpenCV_INCLUDE_DIRS} | ||
| ${PCL_INCLUDE_DIRS} | ||
| ${cv_bridge_INCLUDE_DIRS} | ||
| ${tf2_geometry_msgs_INCLUDE_DIRS} | ||
| ${autoware_perception_msgs_INCLUDE_DIRS} | ||
| ) | ||
|
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| cuda_add_executable(${PROJECT_NAME}_node | ||
| src/bevdet_node.cpp | ||
| src/bevdet.cpp | ||
| src/preprocess.cu | ||
| src/iou3d_nms.cu | ||
| src/postprocess.cu | ||
| src/data.cpp | ||
| src/cpu_jpegdecoder.cpp | ||
| src/nvjpegdecoder.cpp | ||
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| src/preprocess_plugin.cu | ||
| src/bevpool_plugin.cu | ||
| src/alignbev_plugin.cu | ||
| src/gatherbev_plugin.cu | ||
| ) | ||
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| # Link libraries to executable | ||
| ament_target_dependencies(${PROJECT_NAME}_node | ||
| "rclcpp" | ||
| "sensor_msgs" | ||
| "pcl_conversions" | ||
| "cv_bridge" | ||
| "autoware_perception_msgs" | ||
| "tf2_geometry_msgs" | ||
| ) | ||
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| target_link_libraries(${PROJECT_NAME}_node | ||
| yaml-cpp | ||
| libnvinfer.so | ||
| libnvonnxparser.so | ||
| libz.so | ||
| libjpeg.so | ||
| rclcpp::rclcpp | ||
| stdc++fs | ||
| ${NVINFER} | ||
| ${TENSORRT_LIBRARIES} | ||
| ${CUDA_LIBRARIES} | ||
| ${CUBLAS_LIBRARIES} | ||
| ${CUDNN_LIBRARY} | ||
| ${OpenCV_LIBS} | ||
| ${PCL_LIBRARIES} | ||
| ) | ||
|
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| install(TARGETS ${PROJECT_NAME}_node | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY | ||
| launch | ||
| config | ||
| DESTINATION share/${PROJECT_NAME}/ | ||
| ) | ||
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| ament_package() | ||
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| # tensorrt_bevdet <!-- cspell: ignore bevdet --> | ||
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| ## Purpose | ||
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| tensorrt_bevdet is a dynamic 3D bev object detection package based on 6 surround view cameras. | ||
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| ## Inner-workings / Algorithms | ||
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| BEVDet is a BEV perception algorithm based on panoramic cameras. It unifies multi-view images into the perspective of BEV for 3D object detection task. In this implementation, BEVDet network to inference with TensorRT. | ||
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| ## Inputs / Outputs | ||
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| ### Inputs | ||
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| | Name | Type | Description | | ||
| | ---------------------------------- | ------------------------------ | ----------------------------------- | | ||
| | `~/input/topic_img_fl` | `sensor_msgs::msg::Image` | input front_left camera image | | ||
| | `~/input/topic_img_f` | `sensor_msgs::msg::Image` | input front camera image | | ||
| | `~/input/topic_img_fr` | `sensor_msgs::msg::Image` | input front_right camera image | | ||
| | `~/input/topic_img_bl` | `sensor_msgs::msg::Image` | input back_left camera image | | ||
| | `~/input/topic_img_b` | `sensor_msgs::msg::Image` | input back camera image | | ||
| | `~/input/topic_img_br` | `sensor_msgs::msg::Image` | input back_right camera image | | ||
| | `~/input/topic_img_fl/camera_info` | `sensor_msgs::msg::CameraInfo` | input front_left camera parameters | | ||
| | `~/input/topic_img_f/camera_info` | `sensor_msgs::msg::CameraInfo` | input front camera parameters | | ||
| | `~/input/topic_img_fr/camera_info` | `sensor_msgs::msg::CameraInfo` | input front_right camera parameters | | ||
| | `~/input/topic_img_bl/camera_info` | `sensor_msgs::msg::CameraInfo` | input back_left camera parameters | | ||
| | `~/input/topic_img_b/camera_info` | `sensor_msgs::msg::CameraInfo` | input back camera parameters | | ||
| | `~/input/topic_img_br/camera_info` | `sensor_msgs::msg::CameraInfo` | input back_right camera parameters | | ||
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| ### Outputs | ||
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| | Name | Type | Description | | ||
| | ---------------- | ------------------------------------------------ | ---------------- | | ||
| | `~/output/boxes` | `autoware_perception_msgs::msg::DetectedObjects` | detected objects | | ||
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| ## How to Use Tensorrt BEVDet Node | ||
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| 1. launch `tensorrt_bevdet_node` | ||
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| ```bash | ||
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| ros2 launch autoware_tensorrt_bevdet tensorrt_bevdet_node.launch.xml | ||
| ``` | ||
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| 2. play ros2 bag of nuScenes data | ||
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| Please refer to open source repository [ros2_dataset_bridge](https://github.com/Owen-Liuyuxuan/ros2_dataset_bridge) to publish the ROS 2 topics. | ||
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| ## Limitation | ||
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| The model is trained on open-source dataset `NuScenes` and has poor generalization on its own dataset, If you want to use this model to infer your data, you need to retrain it. | ||
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| ## Trained Models | ||
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| You can download the onnx format of trained models by clicking on the links below. | ||
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| - BEVDet: [bevdet_one_lt_d.onnx](https://drive.google.com/file/d/1eMGJfdCVlDPBphBTjMcnIh3wdW7Q7WZB/view?usp=sharing) | ||
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| The model was trained in NuScenes database for 20 epochs. | ||
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| If you want to train model using the [TIER IV's internal database(~2600 key frames)](https://drive.google.com/file/d/1UaarK88HZu09sf7Ix-bEVl9zGNGFwTVL/view?usp=sharing), please refer to the following repositories:[BEVDet adapted to TIER IV dataset](https://github.com/cyn-liu/BEVDet/tree/train_export) | ||
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| ## References/External links | ||
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| [1] <https://github.com/HuangJunJie2017/BEVDet/tree/dev2.1> | ||
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| [2] <https://github.com/LCH1238/BEVDet/tree/export> | ||
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| [3] <https://github.com/LCH1238/bevdet-tensorrt-cpp/tree/one> |
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| /**: | ||
| ros__parameters: | ||
| # weight files | ||
| onnx_path: "$(var model_path)/$(var model_name).onnx" | ||
| engine_path: "$(var model_path)/$(var model_name).engine" | ||
| data_params: | ||
| N: 6 # camera num | ||
| H: 900 # image height | ||
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| W: 1600 # image width | ||
| cams: ["CAM_FRONT_LEFT", "CAM_FRONT", "CAM_FRONT_RIGHT", "CAM_BACK_LEFT", "CAM_BACK", "CAM_BACK_RIGHT"] | ||
| post_process_params: | ||
| # post-process params | ||
| score_threshold: 0.2 | ||
| class_names: ["car", "truck", "construction_vehicle", "bus", "trailer", "barrier", "motorcycle", "bicycle", "pedestrian", "traffic_cone"] | ||
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| bev_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] | ||
| mean: [123.675, 116.28, 103.53] | ||
| std: [58.395, 57.12, 57.375] | ||
| use_depth: true | ||
| use_adj: true | ||
| adj_num: 8 | ||
| transform_size: 6 | ||
| cam_params_size: 27 | ||
| sampling: nearest # nearest # or bicubic | ||
| data_config: | ||
| Ncams: 6 | ||
| cams: [CAM_FRONT_LEFT, CAM_FRONT, CAM_FRONT_RIGHT, CAM_BACK_LEFT, CAM_BACK, CAM_BACK_RIGHT] | ||
| resize_radio: 0.44 | ||
| crop: [140, 0] | ||
| flip: true | ||
| input_size: [256, 704] | ||
| resize: [-0.06, 0.11] | ||
| resize_test: 0.0 | ||
| rot: [-5.4, 5.4] | ||
| src_size: [900, 1600] | ||
| grid_config: | ||
| depth: [1.0, 60.0, 0.5] | ||
| x: [-51.2, 51.2, 0.8] | ||
| y: [-51.2, 51.2, 0.8] | ||
| z: [-5, 3, 8] | ||
| model: | ||
| bevpool_channels: 80 | ||
| coder: | ||
| code_size: 9 | ||
| max_num: 500 | ||
| post_center_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | ||
| score_threshold: 0.1 | ||
| common_head: | ||
| channels: [2, 1, 3, 2, 2] | ||
| names: [reg, height, dim, rot, vel] | ||
| down_sample: 16 | ||
| tasks: | ||
| - class_names: | ||
| [ | ||
| car, | ||
| truck, | ||
| construction_vehicle, | ||
| bus, | ||
| trailer, | ||
| barrier, | ||
| motorcycle, | ||
| bicycle, | ||
| pedestrian, | ||
| traffic_cone, | ||
| ] | ||
| num_class: 10 | ||
| test_cfg: | ||
| max_per_img: 500 | ||
| max_pool_nms: false | ||
| min_radius: [4, 12, 10, 1, 0.85, 0.175] | ||
| nms_rescale_factor: | ||
| - [1.0, 0.7, 0.7, 0.4, 0.55, 1.1, 1.0, 1.0, 1.5, 3.5] | ||
| nms_thr: [0.2] | ||
| nms_type: [rotate] | ||
| post_center_limit_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | ||
| post_max_size: 500 | ||
| pre_max_size: 1000 | ||
| score_threshold: 0.1 |
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@cyn-liu
Please use
autoware_package()macro.cf. https://github.com/autowarefoundation/autoware_cmake/tree/main/autoware_cmake
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When I modify
to
in
CMakeLists.txt, I get the following error:--- stderr: autoware_trt_bevdet In file included from /usr/local/cuda/include/thrust/system/cuda/detail/util.h:36, from /usr/local/cuda/include/thrust/system/cuda/detail/internal/copy_cross_system.h:41, from /usr/local/cuda/include/thrust/system/cuda/detail/copy.h:100, from /usr/local/cuda/include/thrust/system/detail/adl/copy.h:42, from /usr/local/cuda/include/thrust/detail/copy.inl:22, from /usr/local/cuda/include/thrust/detail/copy.h:90, from /usr/local/cuda/include/thrust/detail/allocator/copy_construct_range.inl:21, from /usr/local/cuda/include/thrust/detail/allocator/copy_construct_range.h:45, from /usr/local/cuda/include/thrust/detail/contiguous_storage.inl:23, from /usr/local/cuda/include/thrust/detail/contiguous_storage.h:234, from /usr/local/cuda/include/thrust/detail/temporary_array.h:40, from /usr/local/cuda/include/thrust/system/detail/generic/scan_by_key.inl:26, from /usr/local/cuda/include/thrust/system/detail/generic/scan_by_key.h:142, from /usr/local/cuda/include/thrust/detail/scan.inl:27, from /usr/local/cuda/include/thrust/scan.h:1560, from /usr/local/cuda/include/thrust/system/detail/generic/reduce_by_key.inl:37, from /usr/local/cuda/include/thrust/system/detail/generic/reduce_by_key.h:87, from /usr/local/cuda/include/thrust/detail/reduce.inl:28, from /usr/local/cuda/include/thrust/reduce.h:781, from /usr/local/cuda/include/thrust/system/detail/generic/transform_reduce.inl:19, from /usr/local/cuda/include/thrust/system/detail/generic/transform_reduce.h:51, from /usr/local/cuda/include/thrust/detail/transform_reduce.inl:25, from /usr/local/cuda/include/thrust/transform_reduce.h:194, from /usr/local/cuda/include/thrust/system/detail/generic/count.inl:19, from /usr/local/cuda/include/thrust/system/detail/generic/count.h:49, from /usr/local/cuda/include/thrust/detail/count.inl:26, from /usr/local/cuda/include/thrust/count.h:231, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/iou3d_nms.hpp:12, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/postprocess.hpp:4, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/bevdet.hpp:6, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/bevdet_node.hpp:3, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet_node.cpp:1: /usr/local/cuda/include/cub/detail/device_synchronize.cuh:33: error: ignoring ‘#pragma nv_exec_check_disable ’ [-Werror=unknown-pragmas] 33 | #pragma nv_exec_check_disable | In file included from /usr/local/cuda/include/thrust/system/cuda/detail/util.h:36, from /usr/local/cuda/include/thrust/system/cuda/detail/internal/copy_cross_system.h:41, from /usr/local/cuda/include/thrust/system/cuda/detail/copy.h:100, from /usr/local/cuda/include/thrust/system/detail/adl/copy.h:42, from /usr/local/cuda/include/thrust/detail/copy.inl:22, from /usr/local/cuda/include/thrust/detail/copy.h:90, from /usr/local/cuda/include/thrust/detail/allocator/copy_construct_range.inl:21, from /usr/local/cuda/include/thrust/detail/allocator/copy_construct_range.h:45, from /usr/local/cuda/include/thrust/detail/contiguous_storage.inl:23, from /usr/local/cuda/include/thrust/detail/contiguous_storage.h:234, from /usr/local/cuda/include/thrust/detail/temporary_array.h:40, from /usr/local/cuda/include/thrust/system/detail/generic/scan_by_key.inl:26, from /usr/local/cuda/include/thrust/system/detail/generic/scan_by_key.h:142, from /usr/local/cuda/include/thrust/detail/scan.inl:27, from /usr/local/cuda/include/thrust/scan.h:1560, from /usr/local/cuda/include/thrust/system/detail/generic/reduce_by_key.inl:37, from /usr/local/cuda/include/thrust/system/detail/generic/reduce_by_key.h:87, from /usr/local/cuda/include/thrust/detail/reduce.inl:28, from /usr/local/cuda/include/thrust/reduce.h:781, from /usr/local/cuda/include/thrust/system/detail/generic/transform_reduce.inl:19, from /usr/local/cuda/include/thrust/system/detail/generic/transform_reduce.h:51, from /usr/local/cuda/include/thrust/detail/transform_reduce.inl:25, from /usr/local/cuda/include/thrust/transform_reduce.h:194, from /usr/local/cuda/include/thrust/system/detail/generic/count.inl:19, from /usr/local/cuda/include/thrust/system/detail/generic/count.h:49, from /usr/local/cuda/include/thrust/detail/count.inl:26, from /usr/local/cuda/include/thrust/count.h:231, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/iou3d_nms.hpp:12, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/postprocess.hpp:4, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/bevdet.hpp:6, from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet.cpp:1: /usr/local/cuda/include/cub/detail/device_synchronize.cuh:33: error: ignoring ‘#pragma nv_exec_check_disable ’ [-Werror=unknown-pragmas] 33 | #pragma nv_exec_check_disable | In file included from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet.cpp:6: /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/gatherbev_plugin.hpp:31:20: error: ‘{anonymous}::GATHERBEV_PLUGIN_VERSION’ defined but not used [-Werror=unused-variable] 31 | static const char *GATHERBEV_PLUGIN_VERSION {"1"}; | ^~~~~~~~~~~~~~~~~~~~~~~~ /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/gatherbev_plugin.hpp:30:20: error: ‘{anonymous}::GATHERBEV_PLUGIN_NAME’ defined but not used [-Werror=unused-variable] 30 | static const char *GATHERBEV_PLUGIN_NAME {"GatherBEV"}; | ^~~~~~~~~~~~~~~~~~~~~ In file included from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet.cpp:5: /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/preprocess_plugin.hpp:31:20: error: ‘{anonymous}::PRE_PLUGIN_VERSION’ defined but not used [-Werror=unused-variable] 31 | static const char *PRE_PLUGIN_VERSION {"1"}; | ^~~~~~~~~~~~~~~~~~ /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/preprocess_plugin.hpp:30:20: error: ‘{anonymous}::PRE_PLUGIN_NAME’ defined but not used [-Werror=unused-variable] 30 | static const char *PRE_PLUGIN_NAME {"Preprocess"}; | ^~~~~~~~~~~~~~~ In file included from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet.cpp:4: /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/bevpool_plugin.hpp:31:20: error: ‘{anonymous}::BEVPOOL_PLUGIN_VERSION’ defined but not used [-Werror=unused-variable] 31 | static const char *BEVPOOL_PLUGIN_VERSION {"1"}; | ^~~~~~~~~~~~~~~~~~~~~~ /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/bevpool_plugin.hpp:30:20: error: ‘{anonymous}::BEVPOOL_PLUGIN_NAME’ defined but not used [-Werror=unused-variable] 30 | static const char *BEVPOOL_PLUGIN_NAME {"BEVPool"}; | ^~~~~~~~~~~~~~~~~~~ In file included from /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/src/bevdet.cpp:3: /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/alignbev_plugin.hpp:30:20: error: ‘{anonymous}::ALIGN_PLUGIN_VERSION’ defined but not used [-Werror=unused-variable] 30 | static const char *ALIGN_PLUGIN_VERSION {"1"}; | ^~~~~~~~~~~~~~~~~~~~ /home/ros/new-workspace/ws_lc/autoware_ws/autoware_20240611/src/universe/autoware.universe/perception/autoware_trt_bevdet/include/autoware/trt_bevdet/alignbev_plugin.hpp:29:20: error: ‘{anonymous}::ALIGN_PLUGIN_NAME’ defined but not used [-Werror=unused-variable] 29 | static const char *ALIGN_PLUGIN_NAME {"AlignBEV"}; | ^~~~~~~~~~~~~~~~~ cc1plus: all warnings being treated as errors gmake[2]: *** [CMakeFiles/autoware_trt_bevdet_node.dir/build.make:139: CMakeFiles/autoware_trt_bevdet_node.dir/src/bevdet.cpp.o] Error 1 gmake[2]: *** Waiting for unfinished jobs.... cc1plus: all warnings being treated as errors gmake[2]: *** [CMakeFiles/autoware_trt_bevdet_node.dir/build.make:125: CMakeFiles/autoware_trt_bevdet_node.dir/src/bevdet_node.cpp.o] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/autoware_trt_bevdet_node.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2 --- Failed <<< autoware_trt_bevdet [28.7s, exited with code 2] Summary: 23 packages finished [48.1s] 1 package failed: autoware_trt_bevdet 1 package had stderr output: autoware_trt_bevdet