Investigate Object Detection in Alsora Foxy TensorFlow 20220107
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References
Object Detection Usage Task 2
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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
showimage window
Note: There is a 59% chance that I am a person. What can I say.
Nodes and Topics
Terminal 4
$ ros2 node list
/cam2image
/detection_server
/showimage
$ ros2 topic list
/detections
/detections_image
/flip_image
/image
/parameter_events
/rosout
/vision_info
$ rqt_grap
Image Tools
$ pwd
/opt/ros/foxy/lib/image_tools
$ ll
total 148
drwxr-xr-x 2 root root 4096 Mar 11 2021 ./
drwxr-xr-x 92 root root 45056 Aug 12 19:53 ../
-rwxr-xr-x 1 root root 47480 Feb 25 2021 cam2image*
-rwxr-xr-x 1 root root 47480 Feb 25 2021 showimage*
