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Merge pull request #57 from Ar-Ray-code/feat/migraphx
add migraphx support
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‎README.md‎

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| Base | ROS2 C++ |
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| --------------- | -------- |
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| TensorRT (CUDA) | ✅ |
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| OpenVINO | ✅ |
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| ONNX Runtime | ✅ |
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| TFLite | ✅ |
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| TensorRT | ✅ |
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| OpenVINO | ✅ |
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| ONNRuntime CUDA | ✅ |
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| ONNRuntime MIGraphX | ✅ |
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| TFLite | ✅ |
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## Installation & Demo (C++)
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<br>
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##
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## Reference
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‎yolox_ros_cpp/MIGraphX.md‎

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# MIGraphX + ONNX Runtime (ROCm) build notes
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This workspace uses ONNX Runtime built with the MIGraphX execution provider.
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ROCm EP is not present in `/opt/onnxruntime-migraphx`, so MIGraphX is used as the GPU backend.
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## Key findings
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- `libyolox_cpp.so` links against `/opt/onnxruntime-migraphx/lib/libonnxruntime.so.1`.
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- That onnxruntime build exposes `MIGraphXExecutionProvider` (not `ROCMExecutionProvider`).
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- MIGraphX tries to save compiled models; if a cache path is not set, it can fail with:
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- `migraphx_save: ... Failure opening file: ""/....mxr`
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- To avoid this, ensure `ORT_MIGRAPHX_MODEL_CACHE_PATH` (and/or `ORT_MIGRAPHX_CACHE_PATH`) is set.
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## Prerequisites (Ubuntu 24.04 + ROCm)
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### Install Radeon driver + ROCm
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If you already installed `amdgpu-install_7.1.x`, install the ROCm usecase:
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```bash
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sudo amdgpu-install --list-usecase
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sudo amdgpu-install -y --usecase=graphics,rocm
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sudo reboot
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```
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After reboot, allow GPU compute access and reboot again:
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```bash
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sudo usermod -a -G render,video $USER
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sudo reboot
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```
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Verify ROCm is visible:
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```bash
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/opt/rocm/bin/rocminfo | less
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hipcc --version
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```
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### Install MIGraphX packages
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```bash
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sudo apt update
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sudo apt install -y migraphx migraphx-dev half
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dpkg -l | egrep 'migraphx|half'
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```
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Check the MIGraphX install path (used as `--migraphx_home` below):
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```bash
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dpkg -L migraphx-dev | head -n 50
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```
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## Build and install ONNX Runtime (MIGraphX EP)
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### Build
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ROCm EP was removed in onnxruntime 1.23+, so use MIGraphX EP.
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```bash
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git clone --recursive https://github.com/microsoft/onnxruntime
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cd onnxruntime
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./build.sh --config Release --build_shared_lib --parallel \
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--use_migraphx --migraphx_home /opt/rocm \
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--update --build --skip_tests
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```
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### Install
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```bash
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cd build/Linux/Release
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sudo cmake --install . --prefix /opt/onnxruntime-migraphx
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echo /opt/onnxruntime-migraphx/lib | sudo tee /etc/ld.so.conf.d/onnxruntime.conf
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sudo ldconfig
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ldconfig -p | grep onnxruntime
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```
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## Build (colcon)
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Example build command (matches local setup with `/opt/onnxruntime-migraphx`):
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```
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colcon build --symlink-install \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=Release \
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-DYOLOX_USE_ONNXRUNTIME=ON \
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-DONNXRUNTIME_MIGRAPHX=ON \
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-DCMAKE_CXX_FLAGS="-I/opt/onnxruntime-migraphx/include" \
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-DCMAKE_EXE_LINKER_FLAGS="-L/opt/onnxruntime-migraphx/lib -lonnxruntime" \
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-DCMAKE_SHARED_LINKER_FLAGS="-L/opt/onnxruntime-migraphx/lib -lonnxruntime"
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```
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## Runtime cache path
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Set a writable cache directory before running:
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```
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export ORT_MIGRAPHX_MODEL_CACHE_PATH=/tmp/onnxruntime-migraphx-cache
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export ORT_MIGRAPHX_CACHE_PATH=/tmp/onnxruntime-migraphx-cache
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```
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## Run example
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```
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source install/setup.bash
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ros2 run yolox_ros_cpp yolox_ros_cpp_node --ros-args \
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-p model_path:=./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx \
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-p model_type:=onnxruntime \
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-p use_gpu:=true
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```

‎yolox_ros_cpp/README.md‎

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- `class_labels_path`: ""
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- `num_classes`: 80
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- `model_version`: 0.1.1rc0
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- `onnxruntime_use_cuda`: true
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- `onnxruntime_use_gpu`: true
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- `onnxruntime_use_parallel`: false
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- `onnxruntime_device_id`: 0
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- `onnxruntime_inter_op_num_threads`: 1

‎yolox_ros_cpp/docker/onnxruntime-mIgraphx/docker-compose.yaml‎

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version: '3.4'
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services:
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yolox_ros_onnxruntime_migraphx:
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container_name: yolox_onnxruntime_migraphx
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build:
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context: .
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args:
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- BASE_TAB=latest
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network_mode: host
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devices:
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- "/dev/kfd:/dev/kfd"
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- "/dev/dri:/dev/dri"
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# - "/dev/video0:/dev/video0"
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environment:
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- DISPLAY=$DISPLAY
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volumes:
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- $HOME/ros2_ws:/root/ros2_ws
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- /tmp/.X11-unix:/tmp/.X11-unix
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working_dir: /root/ros2_ws
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tty: true
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command: bash

‎yolox_ros_cpp/docker/onnxruntime-mIgraphx/dockerfile‎

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ARG BASE_TAG=latest
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FROM rocm/dev-ubuntu-24.04:${BASE_TAG}
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ENV TZ=Asia/Tokyo
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RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt update && apt install -y locales git cmake wget curl gnupg2 lsb-release python3-numpy python3-setuptools python3-wheel && \
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locale-gen en_US en_US.UTF-8 && \
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update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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ENV LANG=en_US.UTF-8
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RUN apt update && apt install -y build-essential ca-certificates python3-dev \
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migraphx migraphx-dev half && \
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rm -rf /var/lib/apt/lists/*
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RUN git clone --recursive https://github.com/microsoft/onnxruntime /tmp/onnxruntime && \
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cd /tmp/onnxruntime && \
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./build.sh --config Release --build_shared_lib --parallel \
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--use_migraphx --migraphx_home /opt/rocm \
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--update --build --skip_tests --allow_running_as_root && \
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cd build/Linux/Release && \
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cmake --install . --prefix /opt/onnxruntime-migraphx && \
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echo /opt/onnxruntime-migraphx/lib > /etc/ld.so.conf.d/onnxruntime.conf && \
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ldconfig && \
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rm -rf /tmp/onnxruntime
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
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sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \
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apt update && \
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apt install -y ros-dev-tools \
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ros-jazzy-cv-bridge \
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ros-jazzy-generate-parameter-library \
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ros-jazzy-parameter-traits \
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ros-jazzy-ros-base \
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ros-jazzy-rqt-image-view \
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ros-jazzy-usb-cam \
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ros-jazzy-vision-msgs && \
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apt -y clean && \
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rm -rf /var/lib/apt/lists/*
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WORKDIR /workspace
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COPY ./ros_entrypoint.sh /ros_entrypoint.sh
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RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc

‎yolox_ros_cpp/docker/onnxruntime-mIgraphx/ros_entrypoint.sh‎

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#!/bin/bash
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source /opt/ros/jazzy/setup.bash

‎yolox_ros_cpp/docker/onnxruntime/dockerfile‎

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cd onnxruntime && \
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./build.sh --cudnn_home /usr/lib/x86_64-linux-gnu/ \
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--cuda_home /usr/local/cuda \
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--use_cuda \
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--use_gpu \
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--config RelWithDebInfo \
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--build_shared_lib \
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--allow_running_as_root \

‎yolox_ros_cpp/yolox_cpp/CMakeLists.txt‎

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option(YOLOX_USE_OPENVINO "Use OpenVINO" OFF)
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option(YOLOX_USE_TENSORRT "Use TensorRT" OFF)
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option(YOLOX_USE_ONNXRUNTIME "Use ONNXRuntime" OFF)
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option(ONNXRUNTIME_CUDA "Use ONNXRuntime CUDA Execution Provider" OFF)
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option(ONNXRUNTIME_MIGRAPHX "Use ONNXRuntime MIGraphX Execution Provider" OFF)
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option(YOLOX_USE_TFLITE "Use tflite" OFF)
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option(JETSON "Use Jetson" OFF)
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set(ENABLE_OPENVINO OFF)
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set(ENABLE_TENSORRT OFF)
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set(ENABLE_ONNXRUNTIME OFF)
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set(ENABLE_ONNXRUNTIME_CUDA OFF)
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set(ENABLE_ONNXRUNTIME_MIGRAPHX OFF)
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set(ENABLE_TFLITE OFF)
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if(YOLOX_USE_OPENVINO)
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# onnxruntime
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if(YOLOX_USE_ONNXRUNTIME)
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find_library(ONNXRUNTIME NAMES onnxruntime)
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if(ONNXRUNTIME_CUDA AND ONNXRUNTIME_MIGRAPHX)
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message(FATAL_ERROR "ONNXRUNTIME_CUDA and ONNXRUNTIME_MIGRAPHX cannot both be ON")
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endif()
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set(ENABLE_ONNXRUNTIME ON)
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if(ONNXRUNTIME_CUDA)
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set(ENABLE_ONNXRUNTIME_CUDA ON)
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set(TARGET_DEFINITIONS ${TARGET_DEFINITIONS} ONNXRUNTIME_CUDA)
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endif()
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if(ONNXRUNTIME_MIGRAPHX)
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set(ENABLE_ONNXRUNTIME_MIGRAPHX ON)
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set(TARGET_DEFINITIONS ${TARGET_DEFINITIONS} ONNXRUNTIME_MIGRAPHX)
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endif()
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set(TARGET_SRC ${TARGET_SRC} src/yolox_onnxruntime.cpp)
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set(TARGET_LIBS ${TARGET_LIBS} onnxruntime)
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endif()
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ament_target_dependencies(yolox_cpp ${TARGET_DPENDENCIES})
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ament_export_dependencies(${TARGET_DPENDENCIES})
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target_link_libraries(yolox_cpp ${TARGET_LIBS})
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target_compile_definitions(yolox_cpp PUBLIC ${TARGET_DEFINITIONS})
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if (YOLOX_USE_TFLITE)
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target_include_directories(yolox_cpp PUBLIC ${TFLITE_INCLUDES})

‎yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in‎

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#cmakedefine ENABLE_OPENVINO
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#cmakedefine ENABLE_TENSORRT
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#cmakedefine ENABLE_ONNXRUNTIME
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#cmakedefine ENABLE_ONNXRUNTIME_CUDA
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#cmakedefine ENABLE_ONNXRUNTIME_MIGRAPHX
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#cmakedefine ENABLE_TFLITE
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#endif // _YOLOX_CPP_CONFIG_H_

‎yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp‎

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#ifndef _YOLOX_CPP_YOLOX_ONNX_HPP
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#define _YOLOX_CPP_YOLOX_ONNX_HPP
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#include <algorithm>
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#include <cstdlib>
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#include <filesystem>
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#include <iostream>
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#include <iterator>
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#include <memory>
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#include <opencv2/opencv.hpp>
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#include <stdexcept>
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#include <string>
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#include <vector>
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#include <iostream>
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#include <opencv2/opencv.hpp>
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#include <onnxruntime/onnxruntime_cxx_api.h>
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public:
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YoloXONNXRuntime(const file_name_t &path_to_model,
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int intra_op_num_threads, int inter_op_num_threads=1,
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bool use_cuda=true, int device_id=0, bool use_parallel=false,
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bool use_gpu=true, int device_id=0, bool use_parallel=false,
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float nms_th=0.45, float conf_th=0.3, const std::string &model_version="0.1.1rc0",
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int num_classes=80, bool p6=false);
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std::vector<Object> inference(const cv::Mat& frame) override;
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private:
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int intra_op_num_threads_ = 1;
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int inter_op_num_threads_ = 1;
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bool use_cuda_ = true;
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bool use_gpu_ = true;
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int device_id_ = 0;
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bool use_parallel_ = false;
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