Revision as of 11:54, 21 August 2021

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

Documentation

ROS 2 Tensorflow
move Install TensorFlow on Ubuntu Linux Hint
moveTutorial - How to Install TensorFlow 2.0 on Ubuntu 20.04 Medium

Requirements

Required Dependencies

Foxy: Installed

Rosdep Dependencies

OpenCV Python

pip install of 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

Hood Ubuntu Vanilla Tensorflow Install and Test 20210708

Vision Msgs

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

References

ROS 2 Tensorflow See Requirements section
ROS Perception Vision Msgs
ROS GPG Key Expiration Incident Carefully read Tiryoh's comment carefully from Kat Scott's posting.
Cannot Install Any More Foxy or Ubuntu Packages My ticket

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

Insal 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.

Object Detection Installation

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

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

This resulted in errors. I found the resolution here:
Can't resolve package dependencies when building ros for Ubuntu 16.04

 $ 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

Colcon fails to build Python package: "error in 'egg_base'

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]

Usage

Set up environment by doing this in each terminal.

 $ source tf_ws/install/local_setup.sh

Object Detection Task

Terminal 1

 $ source tf_ws/install/local_setup.sh 

 $ ros2 run tf_detection_py server
       2021-08-13 00:11:25.648086: 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:  
       ...
       ...

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.

TBD: Both cannot load libcudart.so library. I wonder if that is a library I decided I didn't need. NVIDIA library???

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.

Difference between revisions of "Install Turtlebot3 Hood Waffle Foxy alsora ros2-tensorflow 20210615"

Revision as of 11:54, 21 August 2021

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