Humble updates

README.md

@@ -10,7 +10,7 @@ The output can be directly visualized through Rviz
 In order to build the `ros2-tensorflow` package, the following dependencies are needed
 
 Required dependencies:
- - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation.html)
+ - [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html)
 
 Rosdep dependencies:
  - [OpenCV Python](https://pypi.org/project/opencv-python/)
@@ -43,18 +43,20 @@ Get the source code and create the ROS 2 workspace
 
 Install required dependencies using rosdep
 
-    $ rosdep install --from-paths src --ignore-src --rosdistro foxy -y
+    $ rosdep install --from-paths src --ignore-src --rosdistro humble -y
 
 Install the Tensorflow Object Detection Models (optional).
-Make sure to specify the correct Python version according to your system.
 
-    $ sudo apt-get install -y protobuf-compiler python-lxml python-tk
+    $ sudo apt-get install -y protobuf-compiler python3-lxml python-tk
     $ pip install --user Cython contextlib2 jupyter matplotlib Pillow
-    $ git clone https://github.com/tensorflow/models.git /usr/local/lib/python3.8/dist-packages/tensorflow/models
-    $ cd usr/local/lib/python3.8/dist-packages/tensorflow/models/research
+    $ pip3 install --upgrade protobuf==3.20.3
+    $ PYTHONDIRNAME=`python3 --version | awk -F ' ' '{ print $2 }' | awk -F . '{ print "python" $1 "." $2 }'`
+    $ sudo mkdir models; sudo chmod 757 models
+    $ git clone https://github.com/tensorflow/models.git /usr/local/lib/$PYTHONDIRNAME/dist-packages/tensorflow/models
+    $ cd /usr/local/lib/$PYTHONDIRNAME/dist-packages/tensorflow/models/research
     $ protoc object_detection/protos/*.proto --python_out=.
     $
-    $ echo 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/tensorflow/models/research' >> $HOME/.bashrc
+    $ echo "export PYTHONPATH=\$PYTHONPATH:/usr/local/lib/$PYTHONDIRNAME/dist-packages/tensorflow/models/research" >> $HOME/.bashrc
 
 Install Tensorflow Slim (optional)
 

docker/Dockerfile

@@ -1,7 +1,7 @@
 # @author Alberto Soragna (alberto dot soragna at gmail dot com)
 # @2018
 
-FROM osrf/ros:foxy-desktop
+FROM osrf/ros:humble-desktop
 LABEL maintainer="alberto dot soragna at gmail dot com"
 
 # working directory
@@ -22,7 +22,7 @@ RUN apt-get update && apt-get install -y \
     gdb \
     vim \
     nano \
-    python-dev \
+    python3-dev \
     python3-pip \
     unzip
 
@@ -63,7 +63,8 @@ RUN pip3 install -U \
   pytest \
   pytest-cov \
   pytest-runner \
-  setuptools
+  setuptools \
+  protobuf==3.20.3
 
 # install Fast-RTPS dependencies
 RUN apt-get install --no-install-recommends -y \
@@ -87,8 +88,9 @@ WORKDIR $HOME
 # https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/installation.md
 RUN apt-get install -y \
   protobuf-compiler \
-  python-lxml \
+  python3-lxml \
   python-tk
+
 RUN pip install \
   Cython \
   contextlib2 \
@@ -99,10 +101,10 @@ RUN pip install \
 # get tensorflow models repository
 # currently object detection is part of research models that are not available on releases, so we use master
 # TODO: check v2.20 WIP object detection https://github.com/tensorflow/models/tree/v2.2.0/official/vision/detection
-RUN git clone https://github.com/tensorflow/models.git /usr/local/lib/python3.8/dist-packages/tensorflow/models
+RUN git clone https://github.com/tensorflow/models.git /usr/local/lib/python3.10/dist-packages/tensorflow/models
 
 # protobuf compilation
-WORKDIR /usr/local/lib/python3.8/dist-packages/tensorflow/models/research
+WORKDIR /usr/local/lib/python3.10/dist-packages/tensorflow/models/research
 RUN protoc object_detection/protos/*.proto --python_out=.
 
 # Tensorflow-Slim (required for image segmentation)
@@ -136,8 +138,8 @@ RUN mkdir -p $HOME/tf_ws/src
 ADD https://api.github.com/repos/alsora/ros2-tensorflow/git/refs/heads/master version.json
 RUN git clone https://github.com/alsora/ros2-tensorflow $HOME/tf_ws/src/ros2-tensorflow
 WORKDIR $HOME/tf_ws
-RUN rosdep install --from-paths src --ignore-src --rosdistro foxy -y
-RUN /bin/bash -c 'source /opt/ros/foxy/setup.sh; \
+RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
+RUN /bin/bash -c 'source /opt/ros/humble/setup.sh; \
   colcon build'
 
 #### SET ENVIRONMENT
@@ -146,11 +148,11 @@ WORKDIR $HOME
 
 RUN echo ' \n\
 echo "Sourcing ROS2 packages..." \n\
-source /opt/ros/foxy/setup.sh \n\
+source /opt/ros/humble/setup.sh \n\
 source $HOME/tf_ws/install/local_setup.sh' >> $HOME/.bashrc
 
 RUN echo ' \n\
-export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.8/dist-packages/tensorflow/models/research' >> $HOME/.bashrc
+export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.10/dist-packages/tensorflow/models/research' >> $HOME/.bashrc
 
 RUN echo ' \n\
 alias python="python3"' >> $HOME/.bashrc

docker/build.sh

@@ -11,5 +11,5 @@ else
     CLEAN_CMD=""
 fi
 
-docker pull osrf/ros:foxy-desktop
-docker build $CLEAN_CMD -t $IMG_NAME .
+docker pull osrf/ros:humble-desktop
+docker build $CLEAN_CMD -t $IMG_NAME .

ros2-tensorflow/ros2_tensorflow/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(ros2_tensorflow)
 
 if(NOT CMAKE_CXX_STANDARD)

ros2-tensorflow/ros2_tf_core/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/ros2_tf_core
+script_dir=$base/lib/ros2_tf_core
 [install]
-install-scripts=$base/lib/ros2_tf_core
+install_scripts=$base/lib/ros2_tf_core

ros2-tensorflow/tf_classification_py/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/tf_classification_py
+script_dir=$base/lib/tf_classification_py
 [install]
-install-scripts=$base/lib/tf_classification_py
+install_scripts=$base/lib/tf_classification_py

ros2-tensorflow/tf_classification_py/tf_classification_py/classification_node.py

@@ -101,7 +101,7 @@ def handle_image_classification_srv(self, request, response):
         response.classification.results = []
         for i in range(len(classes)):
             hypotesis = ObjectHypothesis()
-            hypotesis.id = classes[i].item()
+            hypotesis.class_id = str(classes[i].item())
             hypotesis.score = scores[i].item()
             response.classification.results.append(hypotesis)
 

ros2-tensorflow/tf_detection_py/setup.cfg

@@ -1,5 +1,5 @@
 
 [develop]
-script-dir=$base/lib/tf_detection_py
+script_dir=$base/lib/tf_detection_py
 [install]
-install-scripts=$base/lib/tf_detection_py
+install_scripts=$base/lib/tf_detection_py

ros2-tensorflow/tf_detection_py/tf_detection_py/detection_node.py

@@ -169,24 +169,22 @@ def create_detections_msg(self, image_np, output_dict):
             det.header = detections.header
             det.results = []
             detected_object = ObjectHypothesisWithPose()
-            detected_object.id = str(classes[i].item())
-            detected_object.score = scores[i].item()
+            detected_object.hypothesis.class_id = str(classes[i].item())
+            detected_object.hypothesis.score = scores[i].item()
             det.results.append(detected_object)
 
             # box is ymin, xmin, ymax, xmax in normalized coordinates
             box = boxes[i]
             det.bbox.size_y = (box[2] - box[0]) * img_height
             det.bbox.size_x = (box[3] - box[1]) * img_width
-            det.bbox.center.x = (box[1] + box[3]) * img_height / 2
-            det.bbox.center.y = (box[0] + box[2]) * img_width / 2
+            det.bbox.center.position.x = (box[1] + box[3]) * img_height / 2
+            det.bbox.center.position.y = (box[0] + box[2]) * img_width / 2
 
             if (self.republish_image):
                 box_img = image_np[
                     int(box[0]*img_height):int(box[2]*img_height),
                     int(box[1]*img_width):int(box[3]*img_width)]
 
-                det.source_img = img_utils.image_np_to_image_msg(box_img)
-
             detections.detections.append(det)
 
         return detections

ros2-tensorflow/tf_detection_py/tf_detection_py/examples/client_test.py

@@ -51,7 +51,7 @@ def vision_info_callback(vision_info_msg):
         for det in detections:
             det_result = det.results[0]
             node.get_logger().info(
-                f'Detected object {det_result.id} with score {det_result.score}')
+                f'Detected object {det_result.hypothesis.class_id} with score {det_result.hypothesis.score}')
     else:
         node.get_logger().error(f'Exception while calling service: {future.exception()}')
 

ros2-tensorflow/tf_interfaces/CMakeLists.txt

@@ -1,5 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
-
+cmake_minimum_required(VERSION 3.8)
 project(tf_interfaces)
 
 # Default to C++14

ros2-tensorflow/tf_interfaces/srv/ImageClassification.srv

@@ -1,3 +1,3 @@
 sensor_msgs/Image image
 ---
-vision_msgs/Classification2D classification
+vision_msgs/Classification classification