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Enable TFLite Models #17

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8cfad98
Use compression with web_video_server
larsll Feb 9, 2024
f2c59ba
Service call finished
larsll Mar 14, 2024
a8aee46
TFLite for Foxy
larsll Mar 14, 2024
e6f5725
Move to TFLite branch
larsll Mar 14, 2024
7e1e029
Fix typo
larsll Mar 15, 2024
d27fb1e
Fixing workspace
larsll Mar 17, 2024
64d77d8
Updated launch
larsll Mar 17, 2024
1884b83
Updated logging
larsll Mar 25, 2024
accdad0
Fix launcher
larsll Mar 25, 2024
8a0685f
Include the standard path
larsll Mar 26, 2024
4f88b9a
Updates
larsll Mar 28, 2024
3a02b6b
No need for sudo
larsll Mar 28, 2024
fc24c8a
Using mark manual to avoid deinstall
larsll Mar 29, 2024
59263ca
Missing packages
larsll Mar 29, 2024
a1328d1
Updated list of services
larsll Mar 29, 2024
ff75685
Remove swap
larsll Mar 29, 2024
824232a
Additional dependencies
larsll Mar 29, 2024
3e61e87
Install GPU driver
larsll Mar 29, 2024
9060f8c
Merge remote-tracking branch 'origin/main' into tflite
larsll Jun 9, 2024
5ada013
Fix the web server commit as it breaks otherwise
larsll Oct 30, 2024
606bc33
Fix to only update foxy deps
larsll Oct 30, 2024
853d632
Create custom device-console package
larsll Oct 30, 2024
869878d
Patch ctrl-pkg / tune build
larsll Nov 2, 2024
1a591b8
Fixes
larsll Nov 2, 2024
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2 changes: 1 addition & 1 deletion .devcontainer/Dockerfile
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Expand Up @@ -25,7 +25,7 @@ RUN curl -o GPG-PUB-KEY-INTEL-SW-PRODUCTS https://apt.repos.intel.com/intel-gpg-
apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS && \
curl -o GPG-PUB-KEY-INTEL-OPENVINO-2021 https://apt.repos.intel.com/openvino/2021/GPG-PUB-KEY-INTEL-OPENVINO-2021 && \
apt-key add GPG-PUB-KEY-INTEL-OPENVINO-2021 && \
echo "deb https://apt.repos.intel.com/openvino/2021 all main" | tee - a /etc/apt/sources.list.d/intel-openvino-2021.list && \
echo "deb https://apt.repos.intel.com/openvino/2021 all main" | tee -a /etc/apt/sources.list.d/intel-openvino-2021.list && \
apt-get update && apt-get install -y --no-install-recommends intel-openvino-dev-ubuntu20-"${build_id}" && \
/opt/intel/openvino_"${build_id}"/deployment_tools/model_optimizer/install_prerequisites/install_prerequisites.sh tf && \
ln --symbolic /opt/intel/openvino_"${build_id}"/ /opt/intel/openvino
Expand Down
35 changes: 25 additions & 10 deletions .devcontainer/devcontainer.json
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Expand Up @@ -10,19 +10,34 @@
"DISPLAY": "${localEnv:DISPLAY}",
"QT_X11_NO_MITSHM": "1"
},
"extensions": ["ms-python.python","ms-vscode.cpptools-extension-pack"],
"runArgs":["--privileged","--network", "host"],
"runArgs": [
"--privileged",
"--network",
"host"
],
"mounts": [
"source=deepracer-ros-bashhistory,target=/commandhistory,type=volume",
"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind"
],
"settings": {
"terminal.integrated.profiles.linux": {
"bash (ROS)": {
"path": "/bin/bash",
"args": ["--init-file", ".devcontainer/bashrc"]
}
},
"terminal.integrated.defaultProfile.linux": "bash (ROS)"
"customizations": {
"vscode": {
"settings": {
"terminal.integrated.profiles.linux": {
"bash (ROS)": {
"path": "/bin/bash",
"args": [
"--init-file",
".devcontainer/bashrc"
]
}
},
"terminal.integrated.defaultProfile.linux": "bash (ROS)"
},
"extensions": [
"ms-python.python",
"ms-vscode.cpptools-extension-pack",
"ms-python.autopep8"
]
}
}
}
4 changes: 4 additions & 0 deletions .gitignore
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Expand Up @@ -6,3 +6,7 @@
factory_reset*
ws/*
!ws/.rosinstall
__pycache__
*.pyc
pkg-build/
dist/
5 changes: 3 additions & 2 deletions .vscode/c_cpp_properties.json
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Expand Up @@ -6,10 +6,11 @@
"${workspaceFolder}/**",
"/opt/ros/foxy/include/**",
"/usr/include/opencv4/",
"/opt/intel/openvino_2021/inference_engine/**"
"/opt/intel/openvino_2021/inference_engine/**",
"${workspaceFolder}/ws/build/inference_pkg/_deps/tensorflow-lite-src/**",
"${workspaceFolder}/ws/build/inference_pkg/flatbuffers/include/"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu17",
"cppStandard": "gnu++14",
"intelliSenseMode": "linux-gcc-x64"
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21 changes: 8 additions & 13 deletions .vscode/settings.json
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Expand Up @@ -2,9 +2,11 @@
"cmake.configureOnOpen": false,
"python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages/",
"/workspaces/deepracer-scripts/ws/install/deepracer_interfaces_pkg/lib/python3.8/site-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages/",
"/workspaces/deepracer-scripts/ws/install/deepracer_interfaces_pkg/lib/python3.8/site-packages"
],
"files.associations": {
"condition_variable": "cpp",
Expand Down Expand Up @@ -75,24 +77,17 @@
"typeinfo": "cpp",
"valarray": "cpp",
"variant": "cpp",
"*.ipp": "cpp"
"*.ipp": "cpp",
"unordered_set": "cpp"
},
"ros.distro": "foxy",
"python.linting.pylintEnabled": false,
"python.linting.enabled": true,
"python.linting.flake8Enabled": false,
"python.linting.pycodestyleEnabled": true,
"python.linting.pycodestyleArgs": ["--max-line-length","120"],
"python.formatting.provider": "autopep8",
"python.formatting.autopep8Args": [
"--max-line-length",
"120",
"--experimental"
],
"files.exclude": {
"**/build": true
},
"search.exclude": {
"**/build": true
},
"C_Cpp.default.compilerPath": "/usr/bin/g++-9",
"autopep8.args": [
"--max-line-length=120"
],
}
142 changes: 88 additions & 54 deletions dev-stack-build.sh
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@@ -1,66 +1,100 @@
#!/usr/bin/env bash
set -e

# Parse command line arguments
CACHE="false"
while getopts "c" opt; do
case ${opt} in
c )
CACHE="true"
;;
\? )
echo "Usage: cmd [-c]"
exit 1
;;
esac
done

# Set the environment
source /opt/ros/foxy/setup.bash
source /opt/intel/openvino_2021/bin/setupvars.sh

# Change to build directory
cd ws

rosws update

#######
#
# START - Pull request specific changes
#

# Update packages for PR's
# https://github.com/aws-deepracer/aws-deepracer-inference-pkg/pull/4
cd aws-deepracer-inference-pkg
git fetch origin pull/4/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-camera-pkg/pull/5
cd aws-deepracer-camera-pkg
git fetch origin pull/5/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-interfaces-pkg/pull/4
cd aws-deepracer-interfaces-pkg
git fetch origin pull/4/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-sensor-fusion-pkg/pull/4
cd aws-deepracer-sensor-fusion-pkg
git fetch origin pull/4/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-model-optimizer-pkg/pull/2
cd aws-deepracer-model-optimizer-pkg
git fetch origin pull/2/head:cache-load
git checkout cache-load
cd ..

# Resolve the dependanices
rosdep install -i --from-path . --rosdistro foxy -y

#
# END - Pull request specific changes
#
#######

# Remove previous builds (gives clean build)
rm -rf install build log

# Update deepracer_launcher.py (fix an issue in the file)
cp ../launch/deepracer_launcher.py ./aws-deepracer-launcher/deepracer_launcher/launch/deepracer_launcher.py

# Turn off SW update
sed -i "s/ENABLE_PERIODIC_SOFTWARE_UPDATE = True/ENABLE_PERIODIC_SOFTWARE_UPDATE = False/" aws-deepracer-systems-pkg/deepracer_systems_pkg/deepracer_systems_pkg/software_update_module/software_update_config.py
if [ "$CACHE" != "true" ]; then

# Undo checkouts / patches
for pkg_dir in */;
do
cd $pkg_dir
if [ -d .git ]; then
git reset --hard
fi
cd ..
done

rosws update

#######
#
# START - Pull request specific changes
#

# Update packages for PR's
# https://github.com/aws-deepracer/aws-deepracer-inference-pkg/pull/4
cd aws-deepracer-inference-pkg
git fetch origin pull/5/head:tflite
git checkout tflite
cd ..

# https://github.com/aws-deepracer/aws-deepracer-camera-pkg/pull/5
cd aws-deepracer-camera-pkg
git fetch origin pull/5/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-interfaces-pkg/pull/4
cd aws-deepracer-interfaces-pkg
git fetch origin pull/4/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-sensor-fusion-pkg/pull/4
cd aws-deepracer-sensor-fusion-pkg
git fetch origin pull/4/head:compressed-image
git checkout compressed-image
cd ..

# https://github.com/aws-deepracer/aws-deepracer-model-optimizer-pkg/pull/2
cd aws-deepracer-model-optimizer-pkg
git fetch origin pull/3/head:tflite
git checkout tflite
cd ..

# Patch with aws-deepracer-ctrl-pkg.patch
cd aws-deepracer-ctrl-pkg
git apply ../../files/aws-deepracer-ctrl-pkg.patch
cd ..

# Remove previous builds (gives clean build)
rm -rf install build log

# Resolve the dependencies
rosdep install -i --from-path . --ignore-src --rosdistro foxy -y

#
# END - Pull request specific changes
#
#######

# Update deepracer_launcher.py (fix an issue in the file)
cp ../files/launch/deepracer_launcher.py ./aws-deepracer-launcher/deepracer_launcher/launch/deepracer_launcher.py

# Turn off SW update
sed -i "s/ENABLE_PERIODIC_SOFTWARE_UPDATE = True/ENABLE_PERIODIC_SOFTWARE_UPDATE = False/" aws-deepracer-systems-pkg/deepracer_systems_pkg/deepracer_systems_pkg/software_update_module/software_update_config.py

fi

# Build the core
colcon build --packages-up-to deepracer_launcher rplidar_ros
Expand Down
2 changes: 1 addition & 1 deletion dev-stack-dependencies.sh
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Expand Up @@ -19,4 +19,4 @@ sudo /opt/intel/openvino_2021/install_dependencies/install_NEO_OCL_driver.sh -y
# Update ROS
sudo rosdep init
sudo rosdep fix-permissions
rosdep update --include-eol-distros
rosdep update --rosdistro foxy
22 changes: 22 additions & 0 deletions dev-stack-install-package.sh
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@@ -0,0 +1,22 @@
#!/usr/bin/env bash

set -e

export DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"

# Build the core packages
sudo systemctl stop deepracer-core

# DeepRacer Repos
sudo cp $DIR/files/deepracer-larsll.asc /etc/apt/trusted.gpg.d/
sudo cp $DIR/files/aws_deepracer-community.list /etc/apt/sources.list.d/
sudo apt update

# Install GPU driver
sudo /opt/intel/openvino_2021/install_dependencies/install_NEO_OCL_driver.sh -y

# Update DR
sudo apt -y install aws-deepracer-core

# Restart deepracer
sudo systemctl start deepracer-core
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