MogeV2 ROS2 Node

[TillBeemelmanns]

mogev2-trt.mp4

Hi guys,

for everyone interested deploying MoGeV2 in a robot, I have setup a ROS2 TensoRT inference node for MogeV2:

https://github.com/ika-rwth-aachen/ros2-moge-trt

I also provide a docker images, so the node is ready to deploy in your robot!

I am able to run MogeV2 in real time with following performance on a Nvidia RTX 6000:

• VITS: 37 FPS
• VITB: 31 FPS
• VITL: 17 FPS

Best,
Till