Revision as of 13:31, 17 January 2022

References

• Install Turtlebot3 Hood Waffle Foxy Tensorflow 20210615
• ROS 2 Tensorflow

Object Detection Usage Task 2

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• Install Turtlebot3 Hood Waffle Foxy Tensorflow 20210615

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