TB3 ROS OpenCL Caffe
From wikidb
Reference
Prerequisite
- Done: Ubuntu 16.04
- Done: ROS kinetic
- Done: RGB Camera
Environment Setup
- ROS Kinetic - See TR3_Intel_ROS_Project#Software_Environment
- Catkin Workspace - See TR3_Intel_ROS_Project#Software_Environment
- clCaffe TB3 clCaffe - Done - This step is misleadingly involved. It is also finicky. It took me several trials to get it right. Once done, it doesn't appear that difficult. It is easy to miss a detail that puts you on a bad path. Furthermore, there is a lot of glue here to stitch together components from diverse environments, for example, ROS catkin, classic Ubuntu, rpm, Debian, and OpenCL.
- Create a symbol link in /opt/clCaffe
$ sudo ln -s /home/eepp/code/clCaffe/ /opt/clCaffe
- Add clCaffe libraries to LD_LIBRARY_PATH to the .bashrc file.
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/clCaffe/build/lib
- Install ROS package for different cameras as needed. See TR3_Intel_ROS_Project#Environment_Setup
Building and Installing
- object_msgs has already been installed. See TR3_Intel_ROS_Project#Package:_Object_Msgs_.281.29
$ cd ~/catkin_ws/src/ $ git clone https://github.com/intel/ros_opencl_caffe $ cd ~/catkin_ws/ $ catkin_make ... [ 98%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/opencl_caffe/unittest_detector [ 98%] Built target unittest_detector [100%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/movidius_ncs_stream/unittest_stream_detection [100%] Built target unittest_stream_detection $ catkin_make install $ source install/setup.bash $ cp ~/catkin_ws/src/ros_opencl_caffe/opencl_caffe/resources/voc.txt /opt/clCaffe/data/yolo/
Running Demo
$ roslaunch opencl_caffe_launch usb_cam_viewer.launch
error
[ INFO] [1530904426.683260478]: Initializing nodelet with 8 worker threads. [ INFO] [1530904426.698657854]: waitForService: Service [/opencl_caffe_manager/load_nodelet] is now available. [ERROR] [1530904426.768114610]: Network configuration file or weights file not found! [FATAL] [1530904426.768148591]: Load resource failed. [ INFO] [1530904426.776194104]: using default calibration URL [ INFO] [1530904426.776266443]: camera calibration URL: file:///home/eepp/.ros/camera_info/head_camera.yaml [ INFO] [1530904426.776329829]: Unable to open camera calibration file [/home/eepp/.ros/camera_info/head_camera.yaml] [ WARN] [1530904426.776355791]: Camera calibration file /home/eepp/.ros/camera_info/head_camera.yaml not found. [ INFO] [1530904426.776384013]: Starting 'head_camera' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS [FATAL] [1530904426.906813757]: Failed to load nodelet '/opencl_caffe_nodelet` of type `opencl_caffe/opencl_caffe_nodelet` to manager `opencl_caffe_manager' [ WARN] [1530904427.124408271]: unknown control 'focus_auto' [opencl_caffe_nodelet-2] process has died [pid 20876, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load opencl_caffe/opencl_caffe_nodelet opencl_caffe_manager /usb_cam/image_raw:=/usb_cam/image_raw inference:=/opencl_caffe/inference __name:=opencl_caffe_nodelet __log:=/home/eepp/.ros/log/62efeeda-8146-11e8-ba73-f83441c849fc/opencl_caffe_nodelet-2.log]. log file: /home/eepp/.ros/log/62efeeda-8146-11e8-ba73-f83441c849fc/opencl_caffe_nodelet-2*.log [opencl_caffe_manager-1] process has died [pid 20875, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=opencl_caffe_manager __log:=/home/eepp/.ros/log/62efeeda-8146-11e8-ba73-f83441c849fc/opencl_caffe_manager-1.log]. log file: /home/eepp/.ros/log/62efeeda-8146-11e8-ba73-f83441c849fc/opencl_caffe_manager-1*.log ^C[usb_cam-4] killing on exit [opencl_caffe_viewer-3] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
Investigation
$ cd /home/eepp/ros_packages/roslaunch_to_dot $ python roslaunch-to-dot.py --png ~/catkin_ws/install/share/opencl_caffe_launch/launch/opencl_caffe_nodelet.launch caffe_nodelet.dot $ gimp caffe_nodelet.png
This did not help: clCaffe
$ export CAFFE_ROOT=$HOME/code/clCaffe
