restore docker usage

CMakeLists.txt

@@ -67,6 +67,7 @@ catkin_package(
 )
 
 catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
 )
 
@@ -76,6 +77,10 @@ catkin_install_python(
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(FILES requirements.txt
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 if(CATKIN_ENABLE_TESTING)
   add_custom_target(${PROJECT_NAME}_download_image ALL
     COMMAND ${PROJECT_SOURCE_DIR}/test/prepare_test_data.sh)

Dockerfile

@@ -76,9 +76,6 @@ USER user
 CMD /bin/bash
 SHELL ["/bin/bash", "-c"]
 
-RUN sudo apt install python3-pip -y
-RUN pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
-
 ########################################
 ########### WORKSPACE BUILD ############
 ########################################

prepare.sh

@@ -9,20 +9,3 @@ cd node_script
 ln -sf ../Detic/detic
 ln -sf ../Detic/third_party
 cd ..
-
-if [ ! -d "models" ]; then
-    mkdir models
-    # All real-time models
-    # https://github.com/facebookresearch/Detic/blob/main/docs/MODEL_ZOO.md#real-time-models
-
-    # Swin Transformer model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth
-    # ConvNet model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth
-    # Res50 model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth
-    # Res18 model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth
-fi
-
-pip3 install -r requirements.txt