[fix] SSD detector, cmake colcon (#1837)

* Fixes for new colcon script on ssd cuda based node * Fixed to RTM and darknet launch files * catkin_fix * * catkin & colcon build successfully * reverted back run to devel space (for the time being)
autowarefoundation · Jan 8, 2019 · f77b784 · f77b784
1 parent c96daee
commit f77b784
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Showing 11 changed files with 63 additions and 25 deletions.
diff --git a/ros/colcon_release b/ros/colcon_release
@@ -9,6 +9,10 @@ if [[ -d install ]]; then
     rm -rf install
 fi
 
+if [ -f src/CMakeLists.txt ]; then
+	rm -r src/CMakeLists.txt
+fi
+
 COLCON_OPTS="--cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs"
 
 export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH

diff --git a/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(autoware_msgs REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
         roscpp
         cv_bridge
+        autoware_msgs
         )
 find_package(OpenCV REQUIRED)
 

diff --git a/...omputing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt b/...omputing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   geometry_msgs
   jsk_recognition_msgs
+  autoware_msgs
   )
 
 

diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(autoware_build_flags REQUIRED)
 find_package(autoware_msgs REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  autoware_msgs
   )
 
 

diff --git a/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt b/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
@@ -164,6 +164,13 @@ IF (CUDA_FOUND)
             LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
             )
+    install(DIRECTORY launch/
+            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+            PATTERN ".svn" EXCLUDE)
+
+    install(DIRECTORY darknet/cfg/
+            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/darknet/cfg/
+            PATTERN ".svn" EXCLUDE)
 ELSE()
     message("darknet won't be built, CUDA was not found.")
 ENDIF ()
diff --git a/.../computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt b/.../computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt
@@ -5,6 +5,9 @@ set(ROS_VERSION $ENV{ROS_DISTRO})
 
 include(FindPkgConfig)
 
+find_package(autoware_build_flags REQUIRED)
+find_package(autoware_msgs REQUIRED)
+find_package(autoware_config_msgs REQUIRED)
 
 FIND_PACKAGE(catkin REQUIRED COMPONENTS
         cv_bridge
@@ -25,6 +28,7 @@ catkin_package(
         sensor_msgs
         std_msgs
         autoware_msgs
+        autoware_config_msgs
         tf
 )
 
@@ -69,6 +73,8 @@ if (EXISTS "${SSD_CAFFE_PATH}")
             )
 
     target_include_directories(vision_ssd_detect PRIVATE
+            ${autoware_msgs_INCLUDE_DIRS}
+            ${autoware_config_msgs_INCLUDE_DIRS}
             ${SSD_CAFFE_PATH}/include
             include
             )

diff --git a/...rception/detection/vision_detector/packages/vision_ssd_detect/include/vision_ssd_detect.h b/...rception/detection/vision_detector/packages/vision_ssd_detect/include/vision_ssd_detect.h
@@ -44,7 +44,7 @@ class SSDDetector
   void Preprocess(const cv::Mat &img, std::vector<cv::Mat> *input_channels);
 
 private:
-  boost::shared_ptr <caffe::Net<float>> net_;
+  boost::shared_ptr <caffe::Net<float> > net_;
   cv::Size input_geometry_;
   int num_channels_;
   cv::Scalar mean_;

diff --git a/...src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/package.xml b/...src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/package.xml
@@ -16,6 +16,7 @@
     <build_depend>geometry_msgs</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>autoware_msgs</build_depend>
+    <build_depend>autoware_config_msgs</build_depend>
     <build_depend>libdpm_ttic</build_depend>
     <build_depend>fusion</build_depend>
     <build_depend>tf</build_depend>
@@ -29,6 +30,7 @@
     <run_depend>geometry_msgs</run_depend>
     <run_depend>std_msgs</run_depend>
     <run_depend>autoware_msgs</run_depend>
+    <run_depend>autoware_config_msgs</run_depend>
     <run_depend>libdpm_ttic</run_depend>
     <run_depend>fusion</run_depend>
     <run_depend>tf</run_depend>

diff --git a/...perception/detection/vision_detector/packages/vision_ssd_detect/src/vision_ssd_detect.cpp b/...perception/detection/vision_detector/packages/vision_ssd_detect/src/vision_ssd_detect.cpp
@@ -29,7 +29,7 @@ SSDDetector::SSDDetector(const std::string& in_network_definition_file,
     caffe::Caffe::set_mode(caffe::Caffe::CPU);
 
   /* Load the network. */
-  net_.reset(new caffe::Net<float>(in_network_definition_file, caffe::Phase::TEST));
+  net_.reset(new caffe::Net<float>(in_network_definition_file, caffe::TEST));
   net_->CopyTrainedLayersFrom(in_pre_trained_model_file);
 
   CHECK_EQ(net_->num_inputs(), 1) << "Network should have exactly one input.";
@@ -63,7 +63,7 @@ std::vector <  RectClassScore<float>  > SSDDetector::Detect(const cv::Mat& img)
   caffe::Blob<float> *result_blob = net_->output_blobs()[0];
   const float *result = result_blob->cpu_data();
   const int num_det = result_blob->height();
-  std::vector <RectClassScore<float>> detections;
+  std::vector <RectClassScore<float> > detections;
   for (int k = 0; k < num_det; ++k)
   {
     if (result[0] == -1)

diff --git a/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt
@@ -7,7 +7,6 @@ execute_process(
 )
 
 
-
 find_package(autoware_build_flags REQUIRED)
 
 find_package(autoware_msgs REQUIRED)
@@ -17,7 +16,7 @@ find_package(OpenCV REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   geometry_msgs
-  autoware_msgs  
+  autoware_msgs
   map_file
   pcl_conversions
   pcl_ros
@@ -26,7 +25,7 @@ find_package(catkin REQUIRED COMPONENTS
   jsk_recognition_msgs
   op_utility
   op_planner
-  op_simu  
+  op_simu
   op_ros_helpers
   waypoint_follower
 )
@@ -38,9 +37,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## catkin specific configuration ##
 ###################################
 catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES 
-  CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs map_file op_utility op_planner op_simu op_ros_helpers waypoint_follower 
+        INCLUDE_DIRS include
+        LIBRARIES
+        CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs map_file op_utility op_planner op_simu op_ros_helpers waypoint_follower
 #  DEPENDS system_lib
 )
 
@@ -53,25 +52,41 @@ if ("${ROS_VERSION}" MATCHES "(kinetic)")
 endif()
 
 include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${autoware_msgs_INCLUDE_DIRS}
-)
+        include
+        ${catkin_INCLUDE_DIRS}
+        ${autoware_msgs_INCLUDE_DIRS}
+        )
 
 link_directories(lib)
 
 
 add_executable(op_car_simulator nodes/op_car_simulator/op_car_simulator.cpp nodes/op_car_simulator/op_car_simulator_core.cpp)
 target_link_libraries(op_car_simulator
-  ${catkin_LIBRARIES}
-  ${PCL_LIBRARIES}
-  ${OpenCV_LIBS}
-  )
-
-add_executable(op_perception_simulator nodes/op_perception_simulator/op_perception_simulator.cpp nodes/op_perception_simulator/op_perception_simulator_core.cpp)
-target_link_libraries(op_perception_simulator ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-
-add_executable(op_signs_simulator nodes/op_signs_simulator/op_signs_simulator.cpp nodes/op_signs_simulator/op_signs_simulator_core.cpp)
-target_link_libraries(op_signs_simulator ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-
-add_dependencies(op_car_simulator op_perception_simulator op_signs_simulator op_data_logger ${catkin_EXPORTED_TARGETS})
+        ${catkin_LIBRARIES}
+        ${PCL_LIBRARIES}
+        ${OpenCV_LIBS}
+        )
+
+add_executable(op_perception_simulator
+        nodes/op_perception_simulator/op_perception_simulator.cpp
+        nodes/op_perception_simulator/op_perception_simulator_core.cpp
+        )
+target_link_libraries(op_perception_simulator
+        ${catkin_LIBRARIES}
+        ${PCL_LIBRARIES}
+        )
+
+add_executable(op_signs_simulator
+        nodes/op_signs_simulator/op_signs_simulator.cpp
+        nodes/op_signs_simulator/op_signs_simulator_core.cpp
+        )
+target_link_libraries(op_signs_simulator
+        ${catkin_LIBRARIES}
+        ${PCL_LIBRARIES}
+        )
+
+add_dependencies(op_car_simulator
+        op_perception_simulator
+        op_signs_simulator
+        ${catkin_EXPORTED_TARGETS}
+        )
diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
   roslib
   std_msgs
   autoware_can_msgs
+  autoware_msgs
 )
 
 catkin_package(CATKIN_DEPENDS
-Original file line number
+Diff line change
@@ Expand Up / @@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS @@
       roscpp
       geometry_msgs
       jsk_recognition_msgs
+      autoware_msgs
       )
@@ Expand Down @@