Enable to build the package in normal catkin workspace (#58)

* Enabling catkin_virtualenv to build the package in normal catkin workspace

* restore docker usage

* fix cmake logic

* [format] isort

* temporary disable mypy test due to symlink submodules

* [CI] try cleaning up GA environment

.github/workflows/docker_build.yml

@@ -15,6 +15,49 @@ jobs:
     name: test docker build
     runs-on: ubuntu-latest
     steps:
+        - name: Free disk space
+          run: |
+            sudo rm -rf "/opt/ghc" || true
+            sudo rm -rf "/usr/share/dotnet" || true
+            sudo rm -rf "$AGENT_TOOLSDIRECTORY" || true
+            sudo rm -rf "/usr/local/lib/android" || true
+            sudo rm -rf "/usr/local/share/boost" || true
+            sudo apt purge -y \
+              ansible* \
+              aria2* \
+              aspnetcore* \
+              azure-cli* \
+              cabal* \
+              clang* \
+              dotnet-* \
+              firefox* \
+              gfortran-* \
+              ghc* \
+              google-chrome-stable* \
+              google-cloud-sdk* \
+              imagemagick* \
+              javascript* \
+              kubectl* \
+              llvm* \
+              mono* \
+              mysql* \
+              nginx* \
+              node* \
+              npm* \
+              nuget* \
+              php* \
+              postgresql* \
+              powershell* \
+              rpm* \
+              ruby* \
+              sqlite3* \
+              subversion \
+              temurin* \
+              tmux* \
+              vim* \
+              yarn*
+            sudo apt-get autoremove -y >/dev/null 2>&1 || true
+            sudo apt-get autoclean -y >/dev/null 2>&1 || true
         - name: Checkout 
           uses: actions/checkout@v2
         - name: Setup QEMU

.github/workflows/peripheral.yml

@@ -17,15 +17,16 @@ jobs:
         - name: pip install formatters and mypy
           run: |
               pip3 install mypy flake8 isort
+        # Temporary commented out due to avoid testing submodule packages
+        # TODO (HiroIshida) fix
+        # - name: check by mypy
+        #   run: |
+        #       pip3 install -r requirements.txt
+        #       pip3 install numpy==1.23  # to enable numpy's type checking
+        #       mypy --version
+        #       mypy .
 
-        - name: check by mypy
-          run: |
-              pip3 install -r requirements.txt
-              pip3 install numpy==1.23  # to enable numpy's type checking
-              mypy --version
-              mypy .
-
-        - name: check by isrot and flake8
+        - name: check by isort and flake8
           run: |
               python3 -m isort example/ test/ node_script/
               python3 -m flake8 example/ test/ node_script/

.gitignore

@@ -1,6 +1,4 @@
 /models
-/node_script/third_party
-/node_script/detic
 /test/data
 
 # Byte-compiled / optimized / DLL files

CMakeLists.txt

@@ -1,12 +1,50 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(detic_ros)
 
-find_package(catkin REQUIRED
+find_package(catkin REQUIRED COMPONENTS
+    catkin_virtualenv
     std_msgs
     sensor_msgs
     message_generation
 )
 
+find_program(NVIDIA_SMI nvidia-smi)
+if(NOT NVIDIA_SMI)
+    message(WARNING "NVIDIA Driver not found. It is strongly recommended that the NVIDIA GPU is available")
+endif()
+
+find_package(Git REQUIRED)
+if ((NOT EXISTS ${PROJECT_SOURCE_DIR}/Detic/third_party/CenterNet2)
+    OR (NOT EXISTS ${PROJECT_SOURCE_DIR}/Detic/third_party/Deformable-DETR))
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
+        WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+    )
+endif()
+
+catkin_python_setup()
+
+find_package(Wget REQUIRED)
+add_custom_target(create_models_dir
+    COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_SOURCE_DIR}/models"
+)
+add_custom_target(download_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x ALL
+    DEPENDS create_models_dir
+    COMMAND ${WGET_EXECUTABLE} "https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth" -O "${PROJECT_SOURCE_DIR}/models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth"
+)
+add_custom_target(download_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x ALL
+    DEPENDS create_models_dir
+    COMMAND ${WGET_EXECUTABLE} "https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth" -O "${PROJECT_SOURCE_DIR}/models/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth"
+)
+add_custom_target(download_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x ALL
+    DEPENDS create_models_dir
+    COMMAND ${WGET_EXECUTABLE} "https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth" -O "${PROJECT_SOURCE_DIR}/models/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth"
+)
+add_custom_target(download_LCOCOI21k_CLIP_R18_640b32_4x_ft4x ALL
+    DEPENDS create_models_dir
+    COMMAND ${WGET_EXECUTABLE} "https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth" -O "${PROJECT_SOURCE_DIR}/models/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth"
+)
+
 add_message_files(
     FILES
     SegmentationInfo.msg
@@ -23,6 +61,25 @@ generate_messages(
     std_msgs
     sensor_msgs
 )
+
+catkin_package(
+    CATKIN_DEPENDS message_runtime
+)
+
+catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+    CHECK_VENV FALSE
+)
+
+file(GLOB PYTHON_SCRIPTS node_script/*.py)
+catkin_install_python(
+    PROGRAMS ${PYTHON_SCRIPTS}
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES requirements.txt
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 if(CATKIN_ENABLE_TESTING)
   add_custom_target(${PROJECT_NAME}_download_image ALL

Dockerfile

@@ -76,9 +76,6 @@ USER user
 CMD /bin/bash
 SHELL ["/bin/bash", "-c"]
 
-RUN sudo apt install python3-pip -y
-RUN pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
-
 ########################################
 ########### WORKSPACE BUILD ############
 ########################################

datasets

@@ -0,0 +1 @@
+Detic/datasets

detic_configs

@@ -0,0 +1 @@
+Detic/configs

example/client.py

@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
 import argparse
 
-import cv2
 import matplotlib.pyplot as plt
 import rospy
 from cv_bridge import CvBridge
-
 from detic_ros.srv import DeticSeg
 
+import cv2
+
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
     parser.add_argument('-image', type=str, help='input image path')

example/masked_image_publisher.py

@@ -5,9 +5,8 @@
 import numpy as np
 import rospy
 from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-
 from detic_ros.msg import SegmentationInfo
+from sensor_msgs.msg import Image
 
 
 class SampleNode:

node_script/batch_processor.py

@@ -8,9 +8,10 @@
 import rosbag
 import tqdm
 from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+
 from moviepy.editor import ImageSequenceClip
 from node_config import NodeConfig
-from sensor_msgs.msg import Image
 from wrapper import DeticWrapper, InferenceRawResult
 
 

node_script/detic

@@ -0,0 +1 @@
+../Detic/detic

node_script/node.py

@@ -2,23 +2,18 @@
 from typing import Optional
 
 import rospy
-import torch
+from detic_ros.msg import SegmentationInfo
+from detic_ros.node_config import NodeConfig
+from detic_ros.srv import (CustomVocabulary, CustomVocabularyRequest,
+                           CustomVocabularyResponse, DeticSeg, DeticSegRequest,
+                           DeticSegResponse)
+from detic_ros.wrapper import DeticWrapper
 from jsk_recognition_msgs.msg import LabelArray, VectorArray
-from node_config import NodeConfig
 from rospy import Publisher, Subscriber
 from sensor_msgs.msg import Image
 from std_srvs.srv import Empty, EmptyRequest, EmptyResponse
-from wrapper import DeticWrapper
 
-from detic_ros.msg import SegmentationInfo
-from detic_ros.srv import (
-    CustomVocabulary,
-    CustomVocabularyRequest,
-    CustomVocabularyResponse,
-    DeticSeg,
-    DeticSegRequest,
-    DeticSegResponse,
-)
+import torch
 
 
 class DeticRosNode:

node_script/third_party

@@ -0,0 +1 @@
+../Detic/third_party

package.xml

@@ -7,14 +7,23 @@
   <license>MIT</license>
   <author>Hirokazu Ishida</author>
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>python3-catkin-pkg-modules</buildtool_depend>.
+  <buildtool_depend>python3-catkin-pkg-modules</buildtool_depend>
+  <buildtool_depend>python3-setuptools</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>wget</build_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
+  <exec_depend>jsk_common</exec_depend>
   <exec_depend>jsk_recognition_msgs</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>python3-rospkg</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>image_publisher</test_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
 </package>

prepare.sh

@@ -9,20 +9,3 @@ cd node_script
 ln -sf ../Detic/detic
 ln -sf ../Detic/third_party
 cd ..
-
-if [ ! -d "models" ]; then
-    mkdir models
-    # All real-time models
-    # https://github.com/facebookresearch/Detic/blob/main/docs/MODEL_ZOO.md#real-time-models
-
-    # Swin Transformer model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth
-    # ConvNet model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_CXT21k_640b32_4x_ft4x_max-size.pth
-    # Res50 model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_R5021k_640b32_4x_ft4x_max-size.pth
-    # Res18 model
-    wget -q https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_R18_640b32_4x_ft4x_max-size.pth
-fi
-
-pip3 install -r requirements.txt

requirements.txt

@@ -1,3 +1,8 @@
+-f https://download.pytorch.org/whl/torch_stable.html
+torch==1.9.0+cu111
+torchvision==0.10.0+cu111
+torchaudio==0.9.0
+
 -f https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.9/index.html
 detectron2
 

setup.py

@@ -0,0 +1,9 @@
+from catkin_pkg.python_setup import generate_distutils_setup
+from setuptools import setup
+
+d = generate_distutils_setup(
+    packages=['detic_ros'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

node_script/node_config.py → src/detic_ros/node_config.py

@@ -7,8 +7,11 @@
 import rospy
 import torch
 
-# Dirty but no way, because CenterNet2 is not package oriented
-sys.path.insert(0, os.path.join(sys.path[0], 'third_party/CenterNet2/'))
+# Dirty but no way, because CenterNet2, Detic is not package oriented
+rospack = rospkg.RosPack()
+pack_path = rospack.get_path("detic_ros")
+sys.path.insert(0, os.path.join(pack_path, 'node_script/third_party/CenterNet2'))
+sys.path.insert(0, os.path.join(pack_path, 'Detic'))
 
 from centernet.config import add_centernet_config
 from detectron2.config import get_cfg
@@ -60,8 +63,6 @@ def from_args(
         assert device_name in ['cpu', 'cuda']
         assert model_type in NodeConfig.model_names
 
-        pack_path = rospkg.RosPack().get_path('detic_ros')
-
         model_name = NodeConfig.model_names[model_type]
         default_detic_config_path = os.path.join(
             pack_path, 'detic_configs',
@@ -119,7 +120,6 @@ def to_detectron_config(self):
         cfg.MODEL.ROI_HEADS.ONE_CLASS_PER_PROPOSAL = True
 
         # Maybe should edit detic_configs/Base-C2_L_R5021k_640b64_4x.yaml
-        pack_path = rospkg.RosPack().get_path('detic_ros')
         cfg.MODEL.ROI_BOX_HEAD.CAT_FREQ_PATH = os.path.join(
             pack_path, 'datasets/metadata/lvis_v1_train_cat_info.json')
 

node_script/wrapper.py → src/detic_ros/wrapper.py

@@ -11,7 +11,7 @@
 from detectron2.utils.visualizer import VisImage
 from detic.predictor import VisualizationDemo
 from jsk_recognition_msgs.msg import Label, LabelArray, VectorArray
-from node_config import NodeConfig
+from detic_ros.node_config import NodeConfig
 from sensor_msgs.msg import Image
 from std_msgs.msg import Header
 

test/test_detic_ros_node.py

@@ -4,9 +4,8 @@
 
 import rospy
 import rostest
-from sensor_msgs.msg import Image
-
 from detic_ros.msg import SegmentationInfo
+from sensor_msgs.msg import Image
 
 
 class TestNode(unittest.TestCase):