Install Turtlebot3 Hood Waffle Foxy alsora ros2-tensorflow 20210615

From wikidb
Jump to: navigation, search

Experience

I started here with the Tensorflow requirements for Foxy and got into trouble. So I changed my strategy to a vanilla Tensorflow and other required components install. There may be overlap and the order my need fine tuning

References

Alsora

Alsora was chosen because it appeared prominently in searches. I had to start someplace and then adjust as I became familiar with tensorFlow Object Detection.

It is also the only TensorFlow link provided by Awesome Robots reference page. Again, probably a good place to start.

Kandi - Explore reusable Libraries curated by Popular Use Cases

Other Projects

In

Others

Move

TBD Move the following to more appropriate page.

Requirements

Required Dependencies

  • Foxy: Installed

Rosdep Dependencies

OpenCV Python

 pip -V
     pip 20.0.2 from /usr/lib/python3/dist-packages/pip (python 3.8)

v 19.3 is minimum. 

 $ pip install opencv-python

It was already installed.

Tensorflow

Vision Msgs

ROS Foxy's vision-msgs package is required. However, the ROS key had expired causing some confusion.

References

Install ROS Key

If your ROS key has expired 

 $ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

 $ sudo apt update

Install vission-msgs

$ sudo apt install ros-foxy-vision-msgs

Optional Dependencies

Tensorflow Object Detection Models

I tried going to the following link given by Alsora. The link is broken.

I may have installed the models when I was testing a Udacity Python3 script. See the "Executing Lesson 3 from the Udacity Course" section on page Hood Ubuntu Vanilla Tensorflow Install and Test 20210708 

 $ pip install -U tensorflow_datasets

Tensorflow Slim

 $ pip install --upgrade tf_slim

Docker

To use Docker

Hood ROS 2 Foxy Docker 20210814

Build

Create Foxy Tensoryflow work space

 $ git clone https://github.com/alsora/ros2-tensorflow.git $HOME/ros2-tensorflow
       Cloning into '/home/eepp/ros2-tensorflow'...
       ...

 $ mkdir -p $HOME/tf_ws/src

 $ cd $HOME/tf_ws

 $ ln -s $HOME/ros2-tensorflow/ros2-tensorflow src

Install dependencies

 $ rosdep install --from-paths src --ignore-src --rosdistro foxy -y

 $ rosdep install --from-paths src --ignore-src --rosdistro foxy -y -r

Install Object Detection Models

 $ sudo apt-get install -y protobuf-compiler python-lxml python-tk
       ...
       ...

 $ pip install --user Cython contextlib2
       ...

The next 3 installs were already satisfied. No additional action. 

 $ pip install --user Cython jupyter

 $ pip install --user Cython matplotlib

 $ pip install --user Cython Pillow

The following failed. 

 cd usr/local/lib/python3.8/dist-packages/tensorflow/models/research

Corrected 

 cd /usr/local/lib/python3.8/dist-packages/tensorflow/models/research

The following failed. 

  $ protoc object_detection/protos/*.proto --python_out=.

Corrected 

 $ sudo protoc object_detection/protos/*.proto --python_out=.

Missed this the first time I installed 

 $ echo 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/tensorflow/models/research' >> $HOME/.bashrc

 $ tail ~/.bashrc
       export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/tensorflow/models/research

Install tf_slim

tf_slim installed earlier. See Optional Dependencies above.


Build and install the ros2-tensorflow package

Double check the symbolic link 

 $ cd

 $ ll tf_ws/src/
       total 8
       drwxrwxr-x 2 eepp eepp 4096 Aug 12 23:43 ./
       drwxrwxr-x 3 eepp eepp 4096 Aug 12 23:43 ../
       lrwxrwxrwx 1 eepp eepp   42 Aug 12 23:43 ros2-tensorflow -> /home/eepp/ros2-tensorflow/ros2-tensorflow/

 $ cd tf_ws

The following fails 

 $ colcon build

Corrected by using symlink-install switch 

 $ colcon build --symlink-install
       Starting >>> ros2_tf_core
       Starting >>> tf_interfaces
       Finished <<< ros2_tf_core [1.33s]                                             
       Finished <<< tf_interfaces [11.9s]                       
       Starting >>> tf_classification_py
       Starting >>> tf_detection_py                        
       Finished <<< tf_classification_py [1.52s]                           
       Finished <<< tf_detection_py [1.52s]
       Starting >>> ros2_tensorflow
       Finished <<< ros2_tensorflow [1.49s]                   

       Summary: 5 packages finished [15.1s]

Tracking Down the ssd_mobilenet Model - an Addendum

References

Found the URL in (the following steps not tested) 

 ~/ros2-tensorflow/ros2-tensorflow/tf_detection_py/tf_detection_py/models.py

 cd ~/Downloads

 $ wget http://download.tensorflow.org/models/object_detection/ssd_mobilenet_v1_coco_2017_11_17.tar.gz
       --2021-09-03 17:11:32--  http://download.tensorflow.org/models/object_detection/ssd_mobilenet_v1_coco_2017_11_17.tar.gz
       Resolving download.tensorflow.org (download.tensorflow.org)... 172.217.14.208, 2607:f8b0:400a:801::2010
       Connecting to download.tensorflow.org (download.tensorflow.org)|172.217.14.208|:80... connected.
       HTTP request sent, awaiting response... 200 OK
       Length: 76534733 (73M) [application/x-tar]
       Saving to: ‘ssd_mobilenet_v1_coco_2017_11_17.tar.gz’

       ssd_mobilenet_v1_co 100%[===================>]  72.99M  9.19MB/s    in 7.9s    

       2021-09-03 17:11:41 (9.25 MB/s) - ‘ssd_mobilenet_v1_coco_2017_11_17.tar.gz’ saved [76534733/76534733]

 $ cd /usr/local/lib/python3.8/dist-packages/tensorflow/models/research/object_detection/

 $ sudo tar -xf ~/Downloads/ssd_mobilenet_v1_coco_2017_11_17.tar.gz
  • add read and execute for "other" to directories and read to "other" files

Usage

Note: Set up environment by doing this in each terminal. 

 $ source ~/tf_ws/install/local_setup.sh

Note: Complete execution logs provided below because of all the warnings.

Object Detection Task 1

Terminal 1 

 $ ros2 run tf_detection_py server
       2021-08-28 13:48:23.345601: 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/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
       2021-08-28 13:48:23.345637: 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.
       2021-08-28 13:48:26.952001: 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
       2021-08-28 13:48:26.952056: W tensorflow/stream_executor/cuda/cuda_driver.cc:326] failed call to cuInit: UNKNOWN ERROR (303)
       2021-08-28 13:48:26.952101: 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
       2021-08-28 13:48:26.952523: 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.
       2021-08-28 13:48:26.994763: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:176] None of the MLIR Optimization Passes are enabled (registered 2)
       2021-08-28 13:48:27.013943: I tensorflow/core/platform/profile_utils/cpu_utils.cc:114] CPU Frequency: 1895505000 Hz
       [INFO] [1630172911.870803088] [detection_server]: Load model completed!
       [INFO] [1630172915.140851798] [detection_server]: Warmup completed! Ready to receive real images!

Terminal 2 

 $  ros2 run tf_detection_py client_test
       2021-08-28 13:54:10.878133: 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/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
       2021-08-28 13:54:10.878167: 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.
       [INFO] [1630173252.719989642] [client_test]: received vision info vision_msgs.msg.VisionInfo(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=), method='TensorFlow Mobilenet network for object detection. Trained on COCO dataset. Produces boxes.', database_location='/usr/local/lib/python3.8/dist-packages/tensorflow/models/research/object_detection/data/mscoco_label_map.pbtxt', database_version=0)
       [INFO] [1630173252.838113727] [client_test]: Detected object 23 with score 0.977092444896698
       [INFO] [1630173252.838639380] [client_test]: Detected object 1 with score 0.9131530523300171
       [INFO] [1630173252.839119233] [client_test]: Detected object 18 with score 0.6583045721054077
  • Note: We found objects 23, 1, and 18. I just need to map these indices to object labels.
  • Note: Both cannot load libcudart.so library. My NUC does not have a NVIDIA card so the library is not installed.

Object Detection Task 2

Plug in webcam and do the follow source in each terminal 

 $ source ~/tf_ws/install/local_setup.sh

TERMINAL 1 

 $ ros2 run tf_detection_py server
       2021-08-28 13:48:23.345601: 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/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
       2021-08-28 13:48:23.345637: 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.
       2021-08-28 13:48:26.952001: 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
       2021-08-28 13:48:26.952056: W tensorflow/stream_executor/cuda/cuda_driver.cc:326] failed call to cuInit: UNKNOWN ERROR (303)
       2021-08-28 13:48:26.952101: 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
       2021-08-28 13:48:26.952523: 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.
       2021-08-28 13:48:26.994763: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:176] None of the MLIR Optimization Passes are enabled (registered 2)
       2021-08-28 13:48:27.013943: I tensorflow/core/platform/profile_utils/cpu_utils.cc:114] CPU Frequency: 1895505000 Hz
       [INFO] [1630172911.870803088] [detection_server]: Load model completed!
       [INFO] [1630172915.140851798] [detection_server]: Warmup completed! Ready to receive real images!

TERMINAL 2 

 $ 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] [1630174558.757006217] [cam2image]: Publishing image #1
       [INFO] [1630174559.255885363] [cam2image]: Publishing image #2
       [INFO] [1630174559.755881035] [cam2image]: Publishing image #3
       [INFO] [1630174560.255851063] [cam2image]: Publishing image #4
       [INFO] [1630174560.755879077] [cam2image]: Publishing image #5
       [INFO] [1630174561.255887359] [cam2image]: Publishing image #6
       ...
       ...

TERMINAL 3

Note: detections_image below 

 $ ros2 topic list
       /clicked_point
       /detections
       /detections_image
       /flip_image
       /goal_pose
       /image
       /initialpose
       /parameter_events
       /rosout
       /tf
       /tf_static
       /vision_info
 
 $ ros2 run image_tools showimage image:=detections_image
       [WARN] [1630175001.504205227] [rcl]: Found remap rule 'image:=detections_image'. This syntax is deprecated. Use '--ros-args --remap image:=detections_image' instead.
       [WARN] [1630175001.504586499] [rcl]: Found remap rule 'image:=detections_image'. This syntax is deprecated. Use '--ros-args --remap image:=detections_image' instead.
       [INFO] [1630175001.879732533] [showimage]: Subscribing to topic 'image'
       [INFO] [1630175001.973765362] [showimage]: Received image #map
       Received image #map
       [INFO] [1630175002.460577395] [showimage]: Received image #map
       Received image #map

Note: There is a 59% chance that I am a person. What can I say.

Image detect 20210828.png

Dig Deeper

rviz option

TERMINAL 3 

 $ rviz2
       [INFO] [1630174421.214625347] [rviz2]: Stereo is NOT SUPPORTED
       [INFO] [1630174421.214776678] [rviz2]: OpenGl version: 3 (GLSL 1.3)
       [INFO] [1630174421.254860420] [rviz2]: Stereo is NOT SUPPORTED
       [INFO] [1630174578.194036847] [rviz2]: Stereo is NOT SUPPORTED
  • Note: "Image" was added to the "Displays"
  • Note: the Image "Topic" was set to "detections_image"

Image detect rviz 20210828.png

Image Classification Task

Note: Failed TBE: Fix

Notes and Logs

The install Tensorflow Foxy install went badly. So I went for a simpler vanilla Tensorflow install that did not integrate with ROS2.

Depreciated

Object Detection Task

Terminal 1

This was run under Docker. I noted that the ssd_mobilenet_v1_coco_2017_11_17 downloaded 

 $ source tf_ws/install/local_setup.sh 

 root@hood:~# ros2 run tf_detection_py server
       2021-08-21 19:12:31.941588: 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: /root/tf_ws/install/tf_interfaces/lib:/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
       2021-08-21 19:12:31.941645: 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.
       >> Downloading ssd_mobilenet_v1_coco_2017_11_17 100.0%Succesfully downloaded ssd_mobilenet_v1_coco_2017_11_17 76534733 bytes.
       Trying to extract archive /usr/local/lib/python3.8/dist-packages/tensorflow/models/research/object_detection/ssd_mobilenet_v1_coco_2017_11_17.tar.gz
       2021-08-21 19:12:47.081207: 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: /root/tf_ws/install/tf_interfaces/lib:/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
       2021-08-21 19:12:47.081271: W tensorflow/stream_executor/cuda/cuda_driver.cc:269] failed call to cuInit: UNKNOWN ERROR (303)
       2021-08-21 19:12:47.081327: 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
       2021-08-21 19:12:47.081894: 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.
       2021-08-21 19:12:47.125438: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:185] None of the MLIR Optimization Passes are enabled (registered 2)
       [INFO] [1629573171.671236404] [detection_server]: Load model completed!
       [INFO] [1629573174.817241482] [detection_server]: Warmup completed! Ready to receive real images!

Need to dig into these errors

Terminal 2 

 $ source tf_ws/install/local_setup.sh

 $ ros2 run tf_detection_py client_test
       2021-08-13 00:12:29.450154: 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/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
       2021-08-13 00:12:29.450190: 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.
       Downloading data from http://farm9.staticflickr.com/8036/7946162344_ee2e1a814e_z.jpg
          8192/Unknown - 0s 0us/step[INFO] [1628827952.451718517] [client_test]: service not available, waiting again...
       [INFO] [1628827953.455543297] [client_test]: service not available, waiting again...
       [INFO] [1628827954.459358797] [client_test]: service not available, waiting again...
       [INFO] [1628827955.463214479] [client_test]: service not available, waiting again...
       [INFO] [1628827956.466590696] [client_test]: service not available, waiting agai

Kind of wanted to start.

Note: Both cannot load libcudart.so library. My NUC does not have a NVIDIA card so the library is not installed.

Clue from Running Under Docker

TERMINAL 1

First start up Docker. Notice that ssd_mobilenet_v1_coco_2017_11_17 gets loaded which it doesn't when we are not in that virtual environment. 

 $ bash ros2-tensorflow/docker/run.sh

 root@hood:~# ros2 run tf_detection_py server
       2021-08-21 19:12:31.941588: 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: /root/tf_ws/install/tf_interfaces/lib:/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
       2021-08-21 19:12:31.941645: 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.
       >> Downloading ssd_mobilenet_v1_coco_2017_11_17 100.0%Succesfully downloaded ssd_mobilenet_v1_coco_2017_11_17 76534733 bytes.
       Trying to extract archive /usr/local/lib/python3.8/dist-packages/tensorflow/models/research/object_detection/ssd_mobilenet_v1_coco_2017_11_17.tar.gz
       2021-08-21 19:12:47.081207: 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: /root/tf_ws/install/tf_interfaces/lib:/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
       2021-08-21 19:12:47.081271: W tensorflow/stream_executor/cuda/cuda_driver.cc:269] failed call to cuInit: UNKNOWN ERROR (303)
       2021-08-21 19:12:47.081327: 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
       2021-08-21 19:12:47.081894: 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.
       2021-08-21 19:12:47.125438: I tensorflow/compiler/mlir/mlir_graph_optimization_pass.cc:185] None of the MLIR Optimization Passes are enabled (registered 2)
       [INFO] [1629573171.671236404] [detection_server]: Load model completed!
       [INFO] [1629573174.817241482] [detection_server]: Warmup completed! Ready to receive real images!
Retrieved from "http://zdome.net/wiki/index.php?title=Install_Turtlebot3_Hood_Waffle_Foxy_alsora_ros2-tensorflow_20210615&oldid=7857"