1. cd your_catkin_ws/src
2. git clone https://github.com/waymo-research/waymo-open-dataset.git
3. cd waymo-od && git branch -a
4. git checkout remotes/origin/r1.0
5. pip install waymo-open-dataset
6. pip install tensorflow
7. cd your_catkin_ws/src
8. git clone https://github.com/AmyPhung/ml_person_detection
9. catkin_make

• To make a dataset, run python createDataset.py

Package for converting from numpy to PointCloud2 https://github.com/eric-wieser/ros_numpy

1. git clone https://github.com/eric-wieser/ros_numpy
2. Navigate to the ros_numpy directory and run pip install --user .

roslaunch ml_person_detection bringup.launch Note: make sure FILENAME in waymo2ros.py is set properly

• Settable data directories

• pip install --user tensorflow==1.15.0 "launchpadlib 1.10.6 requires testresources, which is not installed. tensorflow" sudo apt install python-testresources pip uninstall numpy pip install numpy