Difference between revisions of "Add Server Turtlebot3 Hood Waffle Foxy Tensorflow 20210615"

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= 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 <tt>catsNdogs</tt> object detection server that does the same thing that the <tt>server</tt> does.
 +
It enables us to allows us to modify a new server without destroying  any existing examples.
 +
We can then focus changes on the <tt>catsNdogs</tt> 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 <tt>catsNdogs</tt> 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 <tt>catsNdogs</tt> object detection server works just like the <tt>server</tt> object detection server works.
 +
 
= Notes and Logs =
 
= Notes and Logs =
  
 
* [[Turtlebot3 Waffle NUC Add TensorFlow Detect 20211107 Notes and Logs]]
 
* [[Turtlebot3 Waffle NUC Add TensorFlow Detect 20211107 Notes and Logs]]

Latest revision as of 11:26, 6 December 2021

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.

Notes and Logs

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