CPU-Based Detection Setup

Step 1: Download and Install ONNX Runtime

VER=1.18.0
cd /tmp
wget https://github.com/microsoft/onnxruntime/releases/download/v$VER/onnxruntime-linux-x64-$VER.tgz
# Alternative: Get from misc folder (../../../../misc/libs/onnxruntime)

tar xf onnxruntime-linux-x64-$VER.tgz
sudo mv onnxruntime-linux-x64-$VER /opt/onnxruntime

Step 2: Configure Environment Variables

Add the following to your ~/.bashrc:

export ONNXRUNTIME_ROOT=/opt/onnxruntime
export LD_LIBRARY_PATH=$ONNXRUNTIME_ROOT/lib:$LD_LIBRARY_PATH

Step 3: Finalize and Test

Run these commands to register the libraries and verify installation:

echo "/opt/onnxruntime/lib" | sudo tee /etc/ld.so.conf.d/onnxruntime.conf
sudo ldconfig
catkin config --init --install
catkin build trolley_detection
source /home/nuc/amr_ws/install/setup.bash
roslaunch trolley_detection trolley_detection.launch