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ShigemichiMatsuzakiShigemichiMatsuzaki
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Merge pull request #1 from ActiveIntelligentSystemsLab/add-ros
[update] Add ROS support
2 parents 8e0c943 + 52e82f1 commit d095f21

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‎.gitignore

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catkin_ws/build/
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catkin_ws/devel/
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catkin_ws/logs/
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catkin_ws/.catkin_workspace
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catkin_ws/.catkin_tools/

‎.gitmodules

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[submodule "PyTorch-ENet"]
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path = PyTorch-ENet
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url = https://github.com/ActiveIntelligentSystemsLab/PyTorch-ENet
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[submodule "catkin_ws/src/aisl_utils"]
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path = catkin_ws/src/aisl_utils
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url = https://aisl-serv6.aisl.cs.tut.ac.jp:20443/common/aisl_utils.git
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[submodule "catkin_ws/src/pytorch_enet_ros"]
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path = catkin_ws/src/pytorch_enet_ros
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url = https://github.com/ActiveIntelligentSystemsLab/pytorch_enet_ros

‎Dockerfile

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@@ -5,5 +5,58 @@ MAINTAINER ShigemichiMatsuzaki <matsuzaki@aisl.cs.tut.ac.jp>
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WORKDIR /workspace
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COPY requirements.txt /tmp
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RUN pip install tensorflow tensorboard tensorboardX torchvision moviepy
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RUN pip install -r /tmp/requirements.txt && rm -rf /tmp/requirements.txt
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RUN apt-get update && apt install -y lsb-release \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*rm
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# Install ROS
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# Add key
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
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apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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# Install ROS Melodic
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RUN apt-get update && apt install -y ros-kinetic-ros-base \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*rm
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RUN apt-get install -y ros-kinetic-image-transport ros-kinetic-image-transport-plugins \
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python-catkin-tools \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*rm
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# Initialize the ROS environment
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RUN rosdep init && rosdep update
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# Set entry point
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COPY ./ros_entrypoint.sh /ros_entrypoint.sh
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RUN chmod 777 /ros_entrypoint.sh
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RUN echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
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# Set environment variables
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ENV PATH /opt/ros/kinetic/bin:/usr/local/mpi/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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ENV PYTHONPATH /opt/ros/kinetic/lib/python2.7/dist-packages:$PYTHONPATH
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ENV ROS_DISTRO kinetic
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# Install LibTorch, a C++ API of PyTorch
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# - Following the instruction in https://github.com/pytorch/pytorch/blob/master/docs/libtorch.rst
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# - Use /opt/conda/bin/python because the default python can't locate necessary modules due to its configuration
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RUN cd /opt/pytorch/pytorch/ && mkdir build_libtorch && cd build_libtorch \
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&& /opt/conda/bin/python ../tools/build_libtorch.py
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RUN echo 'alias pt-python="/opt/conda/bin/python $@"' >> ~/.bashrc
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# Set entry point
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RUN rm /ros_entrypoint.sh
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COPY ./ros_entrypoint.sh /ros_entrypoint.sh
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RUN chmod 777 /ros_entrypoint.sh
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RUN echo 'export TARGET_IP=$(LANG=C /sbin/ifconfig $network_if | grep -Eo '"'"'inet (addr:)?([0-9]*\.){3}[0-9]*'"'"' | grep -Eo '"'"'([0-9]*\.){3}[0-9]*'"'"')' >> ~/.bashrc
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RUN echo 'if [ -z "$TARGET_IP" ] ; then' >> ~/.bashrc
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RUN echo ' echo "ROS_IP is not set."' >> ~/.bashrc
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RUN echo ' else' >> ~/.bashrc
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RUN echo ' export ROS_IP=$TARGET_IP' >> ~/.bashrc
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RUN echo ' fi' >> ~/.bashrc
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ENTRYPOINT ["/ros_entrypoint.sh"]

‎PyTorch-ENet

‎catkin_ws/src/aisl_utils

Submodule aisl_utils added at c7666a5

‎catkin_ws/src/pytorch_enet_ros

Submodule pytorch_enet_ros added at 572675a

‎docker-compose.yml

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container_name: pytorch-train
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image: aisl/pytorch:latest
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runtime: nvidia
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command: python /root/PyTorch-ENet/main.py -m train --save-dir /root/PyTorch-ENet/save/ENet_CamVid_matsuzaki_20190921/ --name my_cityscapes_20190921 --dataset camvid --dataset-dir /tmp/dataset/CamVid/ --batch-size 8
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build: .
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command: >
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python /root/PyTorch-ENet/main.py -m train
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--save-dir /root/PyTorch-ENet/save/ENet_CamVid_matsuzaki_20190921/
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--name my_cityscapes_20190921
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--dataset camvid
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--dataset-dir /tmp/dataset/CamVid/
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--batch-size 8
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volumes:
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- ./PyTorch-ENet:/root/PyTorch-ENet
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- /media/data/dataset/matsuzaki:/tmp/dataset
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container_name: tensorboard
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image: aisl/pytorch:latest
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command: tensorboard --logdir /root/PyTorch-ENet/runs
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build: .
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ports:
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- 60006:6006
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volumes:
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- ./PyTorch-ENet:/root/PyTorch-ENet
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master:
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container_name: pytorch-ros-master
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image: ros:kinetic-ros-core
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command: roscore
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environment:
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- ROS_MASTER_URI=http://localhost:11311
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tty: true
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pytorch-ros:
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container_name: pytorch-ros-node
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depends_on:
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- master
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build: .
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runtime: nvidia
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image: aisl/pytorch:latest
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command: roslaunch pytorch_enet_ros pytorch_enet_ros.launch
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environment:
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- ROS_MASTER_URI=http://pytorch-ros-master:11311
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- ROS_IP=172.24.0.3
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volumes:
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- ./catkin_ws/:/root/catkin_ws/
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- ./PyTorch-ENet:/root/PyTorch-ENet
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- /media/data/dataset/matsuzaki:/tmp/dataset
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tty: true
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shm_size: 1G
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catkin-build:
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container_name: catkin-build
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depends_on:
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- master
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build: .
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runtime: nvidia
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image: aisl/pytorch:latest
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command: bash -c "cd /root/catkin_ws && catkin build"
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environment:
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- ROS_MASTER_URI=http://pytorch-ros-master:11311
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volumes:
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- ./catkin_ws/:/root/catkin_ws/
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- ./PyTorch-ENet:/root/PyTorch-ENet
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- /media/data/dataset/matsuzaki:/tmp/dataset
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tty: true
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shm_size: 1G
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rviz:
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container_name: pytorch-ros-rviz
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depends_on:
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- master
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image: osrf/ros:kinetic-desktop-full
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command: rviz
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environment:
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- ROS_MASTER_URI=http://pytorch-ros-master:11311
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- DISPLAY
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- QT_X11_NO_MITSHM=1
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volumes:
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- $HOME/.Xauthority:/root/.Xauthority
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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tty: true

‎requirements.txt

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six==1.12.0
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torch==1.0.0
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torchvision==0.2.1
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moviepy
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setuptools==41.0.0
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tensorflow==1.13.2
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tensorboard==1.13.0
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tensorboardX==1.8

‎ros_entrypoint.sh

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#!/bin/bash
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set -e
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# setup ros environment
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source "/opt/ros/$ROS_DISTRO/setup.bash"
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source "/root/catkin_ws/devel/setup.bash"
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export TARGET_IP=$(LANG=C /sbin/ifconfig $network_if | grep -Eo 'inet (addr:)?([0-9]*\.){3}[0-9]*' | grep -Eo '([0-9]*\.){3}[0-9]*')
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if [ -z "$TARGET_IP" ] ; then
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echo "ROS_IP is not set."
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else
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export ROS_IP=$TARGET_IP
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fi
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exec "$@"

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