Difference between revisions of "TB3 Intel ROS Project"

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= References =
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== References ==
  
 
* [http://wiki.ros.org/IntelROSProject Intel ROS Project]
 
* [http://wiki.ros.org/IntelROSProject Intel ROS Project]
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* [https://github.com/intel/ros_intel_movidius_ncs ROS Intel Movidius NCS]
 
  
−
= Package 4 Movidius =
+
 
 +
 
 +
== Prerequisites: (0) ==
 +
 
 +
=== Status ===
 +
 
 +
<!--
 +
<b style="color: red"> In Process </b>
 +
-->
 +
<b style="color: green"> Done Almost Feb 2019 </b> Some of the tests didn't pass.
 +
 
 +
getting a bus/dev erros
 +
 
 +
=== Software Environment ===
 +
 
 +
* Ubuntu 16.04 '''Done Jan 2019''' [[Sisters Install Ubuntu]]
 +
* ROS Kenetic '''Done Jan 2019''' [[Sisters Install ROS]]
 +
* I picked up a D415 '''Done Jan 2019'''. Don't attempt to work with a D200 or with the RealSense 1 library.
 +
* 3D Camera '''In Process Jan 2019''' [[TB3 Install ROS RealSense 2]]
 +
 
 +
== Package: Object Msgs (1) ==
 +
 
 +
=== Status ===
 +
 
 +
<b style="color: green"> Done Jan 2019</b>
 +
 
 +
=== References ===
 +
 
 +
* [https://github.com/intel/object_msgs Object Msg README]
 +
* [https://github.com/intel/ros_intel_movidius_ncs/blob/devel/README.md ROS Intel Movidius README] see also section 4 See also "building and Installation"
 +
 
 +
=== Build, Install and Test ===
 +
 
 +
Work Log: [[TB3 Intel Object Messages]]
 +
 
 +
== Package: Intel ROS Object Detect Launch (3) ==
 +
 
 +
=== Status ===
 +
 
 +
<b style="color: green"> Done Jan 2019</b>
 +
 
 +
=== Reference ===
 +
 
 +
* [https://github.com/intel/ros_object_detect_launch ROS Object Detect README]
 +
 
 +
=== Build, Install and Test ===
 +
 
 +
Work Log: [[TB3 Intel ROS Object Detect Launch]]
 +
 
 +
== Package: ROS Intel Movidius NCS (4) ==
 +
 
 +
 
 +
=== Status ===
 +
 
 +
<b style="color: green"> Done Feb 2019 </b> One test passed. More testing required.
 +
 
 +
Still cv2.so from ROS issues
 +
 
 +
=== References for Steps Below ===
  
 
* [https://github.com/intel/ros_intel_movidius_ncs ROS Intel Movidius NCS]
 
* [https://github.com/intel/ros_intel_movidius_ncs ROS Intel Movidius NCS]
  
−
== Setup ==
+
=== 3 Environment Setup - NCSDK Install ===
 +
 
 +
This section is really an install for the Movidius SDK. The exact version may be critical. NCSDK version 1.12.01.01 worked.
 +
 
 +
* [https://github.com/intel/ros_intel_movidius_ncs/blob/devel/README.md README] see section 3 "Environment Setup" from ROS Intel Movidius NCS above
 +
 
 +
* Install ROS Kinetic Desktop-Full '''Done Jan 2019''' [[Dellras ROS]]
 +
* Create a catkin workspace '''Done Jan 2019'''
 +
* Install DCSDK v1.12.01.01 '''Done Feb 2019''' [[TB3 Movidius Neural Compute Stick 1.12.01.01]]
 +
* Install NC APP Zoo '''Done Feb 2019''' [[TB3 Movidius Applications]]
 +
* NCSDK should be installed in /opt/movidius by default. Create a symbol link in /opt/movidius to NC APP Zoo. '''Done Jan 2019''' [[TB3 Movidius Applications]]
 +
* Install ROS package for different cameras as needed. '''Done Feb 2019'''
 +
** Standard USB Cameras '''Done Feb 2019''' [[TR3 Standard USB Cameras]] or
 +
** RealSense D400 series camera '''Done Jan 2019'''  [[TB3 Install ROS RealSense 2]]. '''STOP''' don't use the following ROS Realsense instructions.
 +
 
 +
=== 4 Build, Install and Run Demos - ROS Wrapper Install ===
 +
 
 +
'''Done Feb 2019''' Work Link: [[TB3 ROS Intel Movidius NCS]]
 +
 
 +
Tried only one for now: Test Passed.
 +
 
 +
== Package: Intel ROS Object Analytics (2) ==
 +
 
 +
=== Status ===
 +
 
 +
<b style="color: green"> Done Feb 2019 </b> Install and a couple tests do not fault. Istalled ROS OpenCL Caffe below so tests could be run.
 +
 
 +
=== Reference ===
 +
 
 +
* [https://github.com/intel/ros_object_analytics ROS Object Analytics README]
 +
 
 +
=== Install, Test and Run ===
 +
 
 +
Work Log: [[TB3 Intel ROS Object Analytics]]
 +
 
 +
== Package: ROS OpenCL Caffe (5) ==
 +
 
 +
=== Status ===
 +
 
 +
 
 +
<b style="color: green"> Done February 2019 </b>More testing required
 +
 
 +
=== Reference ===
 +
 
 +
* [https://github.com/intel/ros_opencl_caffe ROS OpenCL Caffe README]
 +
 
 +
=== Install, Test and Run ===
 +
 
 +
Work Log: [[TB3 ROS OpenCL Caffe]]
 +
 
 +
* This is the OpenCL Caffe ROS wrapper install
 +
* [[TB3_ROS_OpenCL_Caffe#Environment_Setup]]: This substep is involved. It it installs [[TB3 clCaffe]].
 +
 
 +
== Package: ROS Moving Object ==
 +
 
 +
=== Status ===
 +
 
 +
 
 +
<b style="color: fuchsia"> Default Koduki TurtleBot Runs February 2019</b> Need to adapt to TurtleBot3 Waffle and complete configures for items I've missed.
 +
 
 +
=== Reference ===
 +
 
 +
* [https://github.com/intel/ros_moving_object ROS Moving Object README]
 +
 
 +
=== Install, Test and Run ===
 +
 
 +
Work Log: [[TB3 ROS Moving Object]]
 +
 
 +
== Demos and Regression Tests ==
 +
 
 +
[[TB3 Demos and Regression Tests]]
 +
 
 +
= DEPRECIATED Notes =
 +
 
 +
From Summer 2018 installs when I was attempting to enable a D200
 +
 
 +
== Opens ==
 +
 
 +
* '''cv2.so issue''': The "Import Error ROS python3 opencv" appeared during the installation Movidius examples. See 
 +
** [https://stackoverflow.com/questions/48039563/import-error-ros-python3-opencv Import Stackoverflow Error ROS python3 opencv].
 +
** [[TB3_Movidius_Neural_Compute_Stick#Problem_Two]]: The error as it manifested in Movidius examples.
 +
** [[TB3_Movidius_Neural_Compute_Stick#Fix_Two]]: How it was unsatisfactorily addressed.
 +
** [[TB3_Intel_ROS_Object_Analytics#Build_and_Test]]: This also appeared during the Object Analytics tests.
 +
** [[TB3_ROS_Intel_Movidius_NCS#cv2_Test]]: This cv2 does not raise its head during the GoogleNet demo. I wonder if these demos don't use phyton3.
 +
* '''D400 Prerequisite''': I have a D200.
 +
** See [http://wiki.ros.org/IntelROSProject Intel ROS Project] "Installation Prerequisites."
 +
** See [https://github.com/intel/ros_intel_movidius_ncs ROS Intel Movidius NCS]: "Environment Setup" bullet 6.
 +
* '''RealSense Version Discrepancies''':
 +
** V 1.8.0: [http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_realsense/#intel-realsense-r200-for-turtlebot3 TB3 emanual appendix RealSense]. It specifies version 1.8.1 in the "Installation" section 21.4.5.1.
 +
** V 1.8.0: [[TB3_RealSense_Test]] is what I did.
 +
** V 2.0.2: [https://github.com/intel/ros_intel_movidius_ncs ROS Intel movidius NCS]: "Environment Setup" bullet 6 again.
 +
 
 +
== Prerequisites: (0) ==
 +
 
 +
:::Don't have a series D400 camera. Going to see how well an SR300 works.
 +
:::The D200 the realsense SDK appears to be incompatible with the Intel ROS Project.
 +
:::I'll install realsense2 SDK because it supports the SR300 and D400.
 +
:::I can move to the D400 if the SR300 won't work.
 +
:::See [http://wiki.ros.org/RealSense ROS RealSense]
 +
 
 +
 
 +
I tried using the realsense SDK (not realsense2) and broke my install by forcing an install. Don't follow this path. Give up on the D200.
 +
* 3D camera ROS node '''Resolve Version Specs''' See Opens above
 +
** V 1.8.0: [[TB3_RealSense_Test]] is what I did.
 +
** '''STOP''' [[TB3 RealSense Samples]] This is required by [[TB3_Intel_ROS_Object_Analytics#Extra_Running_Dependencies]], [[TB3_ROS_OpenCL_Caffe#Demo_2]], and [[TB3_ROS_Moving_Object#Launch_1]]. I does not explicitly say that this package is a requirement. realsense_ros_camera appears to be the key requirement.
 +
 
 +
== Package: ROS Intel Movidius NCS (4) ==
 +
 
 +
 
 +
=== Environment Setup ===
 +
 
 +
* Don't try to install Realsense 1. It messes up the install in this section
 +
* <b style="color: red">DEPREATED</b>: Install NCSDK v1.12.00.01 '''Done Summer 2018''' [[TB3 Movidius Newual Compute Stick 1.12]]. I went to 2.08 after that but the ros Movidius wrapper wasn't upgraded for it. NCSDK 1.12.01.01 worked.
 +
 
 +
=== Strategy ===
 +
 
 +
Had trouble with Movidius NCSDK 1 so I tried 2. It installed but the wrapper did not. See sim note below. So then went back to NCSDK 1. It worked.
 +
 
 +
* [https://github.com/movidius/ncappzoo NC App Zoo]
 +
* [https://github.com/movidius/ncappzoo/tree/ncsdk2/ncapi2_shim NC SDK2 Shim]
  
−
* [https://github.com/intel/ros_intel_movidius_ncs/blob/devel/README.md README] see section 3
+
::"Also of note is the ncappzoo/ncapi2_shim project which will allow NCAPI v1 python code to run with NCAPI v2 installed with very little work. See the README.md file in that directory for more information on how to use the shim. Many projects in the ncsdk2 branch make use of this shim as well."
  
−
* Install ROS Kinetic Desktop-Full '''Done'''
+
I've experience incompatibility issues using version 1 of Realsense and Movidius drivers. I'm going with version 2 which will probably break App Zoo and require a shim layer to fix. The instructions for Movidius call for the installation of NCSDK v1.12.00. I couldn't install this version and may have broken pip3 items while doing an upgrade. See DEPRECIATED at the bottom. Instead I'm installing v2.08. This will probably cause cv2.so issues with Python3. See Status in the next section.
−
* Create a catkin workspace '''Done'''
+
−
* Install NCSDK v1.12.00 '''Done'''
+
−
* Install NC APP Zoo '''Done'''
+
−
* NCSDK should be installed in /opt/movidius by default. Create a symbol link in /opt/movidius to NC APP Zoo.
+

Latest revision as of 12:54, 28 February 2019

References

 

Prerequisites: (0)

Status

Done Almost Feb 2019 Some of the tests didn't pass.

getting a bus/dev erros

Software Environment

Package: Object Msgs (1)

Status

Done Jan 2019

References

Build, Install and Test

Work Log: TB3 Intel Object Messages

Package: Intel ROS Object Detect Launch (3)

Status

Done Jan 2019

Reference

Build, Install and Test

Work Log: TB3 Intel ROS Object Detect Launch

Package: ROS Intel Movidius NCS (4)

Status

Done Feb 2019 One test passed. More testing required.

Still cv2.so from ROS issues

References for Steps Below

3 Environment Setup - NCSDK Install

This section is really an install for the Movidius SDK. The exact version may be critical. NCSDK version 1.12.01.01 worked.

  • README see section 3 "Environment Setup" from ROS Intel Movidius NCS above

4 Build, Install and Run Demos - ROS Wrapper Install

Done Feb 2019 Work Link: TB3 ROS Intel Movidius NCS

Tried only one for now: Test Passed.

Package: Intel ROS Object Analytics (2)

Status

Done Feb 2019 Install and a couple tests do not fault. Istalled ROS OpenCL Caffe below so tests could be run.

Reference

Install, Test and Run

Work Log: TB3 Intel ROS Object Analytics

Package: ROS OpenCL Caffe (5)

Status

Done February 2019 More testing required

Reference

Install, Test and Run

Work Log: TB3 ROS OpenCL Caffe

Package: ROS Moving Object

Status

Default Koduki TurtleBot Runs February 2019 Need to adapt to TurtleBot3 Waffle and complete configures for items I've missed.

Reference

Install, Test and Run

Work Log: TB3 ROS Moving Object

Demos and Regression Tests

TB3 Demos and Regression Tests

DEPRECIATED Notes

From Summer 2018 installs when I was attempting to enable a D200

Opens

Prerequisites: (0)

Don't have a series D400 camera. Going to see how well an SR300 works.
The D200 the realsense SDK appears to be incompatible with the Intel ROS Project.
I'll install realsense2 SDK because it supports the SR300 and D400.
I can move to the D400 if the SR300 won't work.
See ROS RealSense


I tried using the realsense SDK (not realsense2) and broke my install by forcing an install. Don't follow this path. Give up on the D200.

Package: ROS Intel Movidius NCS (4)

Environment Setup

  • Don't try to install Realsense 1. It messes up the install in this section
  • DEPREATED: Install NCSDK v1.12.00.01 Done Summer 2018 TB3 Movidius Newual Compute Stick 1.12. I went to 2.08 after that but the ros Movidius wrapper wasn't upgraded for it. NCSDK 1.12.01.01 worked.

Strategy

Had trouble with Movidius NCSDK 1 so I tried 2. It installed but the wrapper did not. See sim note below. So then went back to NCSDK 1. It worked.

"Also of note is the ncappzoo/ncapi2_shim project which will allow NCAPI v1 python code to run with NCAPI v2 installed with very little work. See the README.md file in that directory for more information on how to use the shim. Many projects in the ncsdk2 branch make use of this shim as well."

I've experience incompatibility issues using version 1 of Realsense and Movidius drivers. I'm going with version 2 which will probably break App Zoo and require a shim layer to fix. The instructions for Movidius call for the installation of NCSDK v1.12.00. I couldn't install this version and may have broken pip3 items while doing an upgrade. See DEPRECIATED at the bottom. Instead I'm installing v2.08. This will probably cause cv2.so issues with Python3. See Status in the next section.

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