coral_usb_ros

ROS package for Coral Edge TPU USB Accelerator

Environment

Ubuntu 16.04 + Kinetic
Ubuntu 18.04 + Melodic

If you want to run this on Ubuntu 14.04 + Indigo, please see indigo branch.

If you want to run this on PR2, please see pr2 branch.

Notice

We need python3.5 or python3.6 to run this package.

Nodes

Object detector: edgetpu_object_detector.py
Face detector: edgetpu_face_detector.py
Human Pose Estimator: edgetpu_human_pose_estimator.py

Setup

Install Edge TPU Dependencies

Follow this page.

Install the Edge TPU runtime

echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | sudo tee /etc/apt/sources.list.d/coral-edgetpu.list
curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo apt-key add -
sudo apt-get update
# If you do not have USB3, install libedgetpu1-std
sudo apt-get install libedgetpu1-max
sudo apt-get install python3-edgetpu

Install just the TensorFlow Lite interpreter

sudo apt-get install python3-pip
wget https://dl.google.com/coral/python/tflite_runtime-1.14.0-cp36-cp36m-linux_x86_64.whl
pip3 install tflite_runtime-1.14.0-cp36-cp36m-linux_x86_64.whl

Workspace build (kinetic)

source /opt/kinetic/ros/setup.bash
mkdir ~/coral_ws/src
cd ~/coral_ws/src
git clone https://github.com/knorth55/coral_usb_ros.git
wstool init
wstool merge coral_usb_ros/fc.rosinstall
wstool update
rosdep install --from-paths . --ignore-src -y -r
cd ~/coral_ws
catkin init
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so
catkin build

Workspace build (melodic)

source /opt/melodic/ros/setup.bash
mkdir ~/coral_ws/src
cd ~/coral_ws/src
git clone https://github.com/knorth55/coral_usb_ros.git
wstool init
wstool merge coral_usb_ros/fc.rosinstall.melodic
wstool update
rosdep install --from-paths . --ignore-src -y -r
cd ~/coral_ws
catkin init
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin build

Model download

source ~/coral_ws/devel/setup.bash
roscd coral_usb/scripts
python download_models.py

Sample

Run `image_publisher`

# source normal workspace, not edge tpu workspace
# /opt/ros/kinetic/setup.bash or /opt/ros/melodic/setup.bash
source /opt/ros/kinetic/setup.bash
rosrun jsk_perception image_publisher.py _file_name:=$(rospack find jsk_perception)/sample/object_detection_example_1.jpg

Run Edge TPU launch

# source edge tpu workspace
source ~/coral_ws/devel/setup.bash
# object detector
roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/image_publisher/output
# face detector
roslaunch coral_usb edgetpu_face_detector.launch INPUT_IMAGE:=/image_publisher/output
# human pose estimator
roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/image_publisher/output

Run `image_view`

# source normal workspace, not edge tpu workspace
# /opt/ros/kinetic/setup.bash or /opt/ros/melodic/setup.bash
source /opt/ros/kinetic/setup.bash
rosrun image_view image_view image:=/edgetpu_object_detector/output/image

makit0sh/coral_usb_ros