Add Server Turtlebot3 Hood Waffle Foxy Tensorflow 20210615
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Contents
Goal
The goal is to create a new TensorFlow Object Detector by modifying Install Turtlebot3 Hood Waffle Foxy Tensorflow 20210615.
Sanity Test
Test Build
Build Passed
$ cd tf_ws/
$ colcon build --symlink-install
Starting >>> ros2_tf_core
Starting >>> tf_interfaces
Finished <<< ros2_tf_core [1.46s]
Finished <<< tf_interfaces [2.40s]
Starting >>> tf_classification_py
Starting >>> tf_detection_py
Finished <<< tf_detection_py [1.75s]
Finished <<< tf_classification_py [1.79s]
Starting >>> ros2_tensorflow
Finished <<< ros2_tensorflow [0.21s]
Summary: 5 packages finished [4.66s]
Test Execution
Test Passed: Repeat Object Detection Task 2 in Install Turtlebot3 Hood Waffle Foxy Tensorflow 20210615 to make sure Foxy TensorFlow is not broken.
Add a New Server
Add the Server Code
Add a catsNdogs object detection server that does the same thing that the server does. It enables us to allows us to modify a new server without destroying any existing examples. We can then focus changes on the catsNdogs server.
$ cd ~/tf_ws/src/ros2-tensorflow/tf_detection_py/tf_detection_py/examples $ cp server.py catsNdogs.py
Modify the Build Setup
$ cd ../.. $ cp setup.py setup.py.org $ emacs setup.py&
Add the catsNdoes detection server to the build. Do a diff to document the change.
$ diff setup.py.org setup.py
37a38
> 'catsNdogs = tf_detection_py.examples.catsNdogs:main',
Test the Build
Check what servers are in the current install directory and check if the build adds the new object detection server.
$ cd ~/tf_ws/install/tf_detection_py/lib/tf_detection_py/
$ ls
client_test face_detection server
$ cd ~/tf_ws
$ colcon build --symlink-install
Starting >>> ros2_tf_core
Starting >>> tf_interfaces
Finished <<< tf_interfaces [1.26s]
Finished <<< ros2_tf_core [1.39s]
Starting >>> tf_classification_py
Starting >>> tf_detection_py
Finished <<< tf_classification_py [1.53s]
Finished <<< tf_detection_py [1.53s]
Starting >>> ros2_tensorflow
Finished <<< ros2_tensorflow [0.20s]
Summary: 5 packages finished [3.34s]
$ cd ~/tf_ws/install/tf_detection_py/lib/tf_detection_py/
$ ls
catsNdogs client_test face_detection server
Build still passed: The catsNdogs is added.
Test New Server
Terminal 1
$ cd
$ source tf_ws/install/local_setup.sh
$ ros2 run tf_detection_py catsNdogs
2021-11-09 13:20:32.363541: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/eepp/tf_ws/install/tf_interfaces/lib:/home/eepp/image_ws/install/stereo_image_proc/lib:/home/eepp/image_ws/install/realsense_ros/lib:/home/eepp/image_ws/install/realsense_msgs/lib:/home/eepp/image_ws/install/realsense_camera_msgs/lib:/home/eepp/image_ws/instal l/image_view/lib:/home/eepp/image_ws/install/image_rotate/lib:/home/eepp/image_ws/install/image_proc/lib:/home/eepp/image_ws/install/depth_image_proc/lib:/home/eepp/turtlebot3_ws/install/turtlebot3_msgs/lib:/usr/lib/x86_64-linux-gnu/gazebo- 11/plugins:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
2021-11-09 13:20:32.363576: I tensorflow/stream_executor/cuda/cudart_stub.cc:29] Ignore above cudart dlerror if you do not have a GPU set up on your machine.
2021-11-09 13:20:36.545787: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcuda.so.1'; dlerror: libcuda.so.1: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/eepp/tf_ws/install/tf_interfaces/lib:/home/eepp/image_ws/install/stereo_image_proc/lib:/home/eepp/image_ws/install/realsense_ros/lib:/home/eepp/image_ws/install/realsense_msgs/lib:/home/eepp/image_ws/install/realsense_camera_msgs/lib:/home/eepp/image_ws/install/image_view/lib:/home/eepp/image_ws/install/image_rotate/lib:/home/eepp/image_ws/install/image_proc/lib:/home/eepp/image_ws/install/depth_image_proc/lib:/home/eepp/turtlebot3_ws/install/turtlebot3_msgs/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
2021-11-09 13:20:36.545819: W tensorflow/stream_executor/cuda/cuda_driver.cc:326] failed call to cuInit: UNKNOWN ERROR (303)
2021-11-09 13:20:36.545858: I tensorflow/stream_executor/cuda/cuda_diagnostics.cc:156] kernel driver does not appear to be running on this host (hood): /proc/driver/nvidia/version does not exist
2021-11-09 13:20:36.546099: I tensorflow/core/platform/cpu_feature_guard.cc:142] This TensorFlow binary is optimized with oneAPI Deep Neural Network Library (oneDNN) to use the following CPU instructions in performance-critical operations: AVX2 FMA
To enable them in other operations, rebuild TensorFlow with the appropriate compiler flags.
2021-11-09 13:20:36.582899: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:176] None of the MLIR Optimization Passes are enabled (registered 2)
2021-11-09 13:20:36.600555: I tensorflow/core/platform/profile_utils/cpu_utils.cc:114] CPU Frequency: 1895600000 Hz
[INFO] [1636482041.538843887] [detection_server]: Load model completed!
[INFO] [1636482044.703658020] [detection_server]: Warmup completed! Ready to receive real images!
Terminal 2
$ cd
$ source tf_ws/install/local_setup.sh
$ ros2 run image_tools cam2image --ros-args -p frequency:=2.0
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (935) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1
[INFO] [1636481898.473283660] [cam2image]: Publishing image #1
[INFO] [1636481898.972056644] [cam2image]: Publishing image #2
[INFO] [1636481899.472155372] [cam2image]: Publishing image #3
[INFO] [1636481899.972165748] [cam2image]: Publishing image #4
[INFO] [1636481900.472170231] [cam2image]: Publishing image #5
[INFO] [1636481900.972209576] [cam2image]: Publishing image #6
[INFO] [1636481901.472175511] [cam2image]: Publishing image #7
[INFO] [1636481901.972180427] [cam2image]: Publishing image #8
[INFO] [1636481902.472194537] [cam2image]: Publishing image #9
[INFO] [1636481902.972204052] [cam2image]: Publishing image #10
[INFO] [1636481903.472184911] [cam2image]: Publishing image #11
[INFO] [1636481903.972215544] [cam2image]: Publishing image #12
[INFO] [1636481904.472212017] [cam2image]: Publishing image #13
Terminal 3
$ cd
$ source tf_ws/install/local_setup.sh
$ ros2 run image_tools showimage image:=detections_image
[WARN] [1636481946.651601992] [rcl]: Found remap rule 'image:=detections_image'. This syntax is deprecated. Use '--ros-args --remap image:=detections_image' instead.
[WARN] [1636481946.652138401] [rcl]: Found remap rule 'image:=detections_image'. This syntax is deprecated. Use '--ros-args --remap image:=detections_image' inst
Execution Test Passed: The catsNdogs object detection server works just like the server object detection server works.
