https://github.com/tzutalin/ros_caffe

:coffee: Integrate Caffe model into ROS
https://github.com/tzutalin/ros_caffe

Last synced: 2 months ago
JSON representation

:coffee: Integrate Caffe model into ROS

• Host: GitHub
• URL: https://github.com/tzutalin/ros_caffe
• Owner: tzutalin
• Created: 2015-05-15T03:03:04.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2017-01-17T03:17:53.000Z (about 8 years ago)
• Last Synced: 2023-08-07T01:52:30.104Z (over 1 year ago)
• Language: C++
• Homepage:
• Size: 4.08 MB
• Stars: 72
• Watchers: 19
• Forks: 48
• Open Issues: 3
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# ros_caffe

## Purpose

Integrate Caffe model into ROS

## Requirements

* Ubuntu

* [Install ROS](http://wiki.ros.org/ROS/Installation) with [catkin build](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment). Create a catkin workspace.

* [Install Caffe dependencies](http://caffe.berkeleyvision.org/installation.html)

* [Install CUDA 6.5 for NVIDIA TK1](https://gist.github.com/jetsonhacks/6da905e0675dcb5cba6f)

## Grab the source

`$ cd [CATKIN_WS]/src`

`$ git clone --recursive https://github.com/tzutalin/ros_caffe.git`

`$ cd [CATKIN_WS]/src/ros_caffe`

## Build

Build Caffe

`cd [CATKIN_WS]/src/ros_caffe/caffe`

`cp Makefile.config.example Makefile.config`

`$ vi Makefile.config`

For CPU-only Caffe, uncomment CPU_ONLY := 1 in Makefile.config.

`$ make all ; make distribute`

Build ros package

`$ cd [CATKIN_WS]`

`$ catkin_make`

`$ source ./devel/setup.bash`

## Run

You can download default caffenet's model. It will be located at data folder

`cd data; sh download_caffe_model.sh`

Open a terminal, execute

`$ roscore`

Open another terminal, execute

`$ roslaunch turtlebot_bringup 3dsensor.launch`

if you dont have turtlebot, you could use astra's camera:

`$ roslaunch astra_launch astra.launch`

Open another terminal, execute

`$ rosrun ros_caffe ros_caffe_test`

Output:

	Test default image under /data/cat.jpg

	0.1384 - "n02123159 tiger cat"

	0.1302 - "n02123045 tabby, tabby cat"

	0.1138 - "n02085620 Chihuahua"

	0.1076 - "n02094433 Yorkshire terrier"

	0.0914 - "n02123394 Persian cat"

You can echo a topic to receive the string message.

`$ rostopic echo /caffe_ret`

	data: [0.138446 - n02123159 tiger cat]

	[0.130182 - n02123045 tabby, tabby cat]

	[0.113755 - n02085620 Chihuahua]

	[0.107584 - n02094433 Yorkshire terrier]

	[0.0913549 - n02123394 Persian cat]

## ROS Topics

Publish a topic after classifiction

/caffe_ret

Receive an image :

/camera/rgb/image_raw

## Optional settting

* Optional: Download the model and install Caffe by following the [Blog](http://tzutalin.blogspot.tw/2015/06/setup-caffe.html) or [Caffe offical site](http://caffe.berkeleyvision.org/installation.html)

You can change your Caffe's include and lib path in CMakeLists.txt.

	set(CAFFE_INCLUDEDIR caffe/include caffe/distribute/include)

	set(CAFFE_LINK_LIBRARAY caffe/lib)