Difference between revisions of "Add Server Turtlebot3 Hood Waffle Foxy Tensorflow 20210615"
From wikidb
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$ cd ~/tf_ws | $ cd ~/tf_ws | ||
Revision as of 13:21, 12 November 2021
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.
$ 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