tensorflow_ros_cpp

A Catkin-friendly package for utilizing the C++ API of Tensorflow.

Get Tensorflow C++ API into ROS as easy as

find_package(catkin REQUIRED COMPONENTS
  ... your other packages ...
  tensorflow_ros_cpp
)

See the usage example at [https://github.com/tradr-project/tensorflow_ros_test].

New: Support for Noetic and TensorFlow 2.x!

Supported Tensorflow installations

You can choose either one of the following options to install Tensorflow.

• As a pip (Python) package: The easiest way on Ubuntu 14.04 and 20.04, Just pip install tensorflow and that’s it. GPU version supported! Can be used on Ubuntu 16.04 and 18.04, too, but with important limitations.
• Using tensorflow_catkin package: Easily compile Tensorflow for your platform. A convenient way on newer systems. Supports GPU version.
• Using a custom build of Tensorflow built by bazel: The least comfortable, yet most powerful way. Compile Tensorflow yourself using bazel and tell this package where to find it.

See below for more detail about each of the installation types and how to set them up.

Note for rosdep users

If you’re managing dependencies via rosdep, it is likely that you do not want it to try to install the optional dependencies (currently python-tensorflow-pip and tensorflow_catkin). In such case, add the following to the rosdep call:

rosdep install ... --skip-keys=tensorflow_catkin --skip-keys=python-tensorflow-pip

Tested compatible versions

If you successfully used this package on an untested configuration (marked with ?), please, tell us.

Ubuntu 14.04 64bits, Python 2.7.6, ROS Indigo

Ubuntu 14.04 64bits, Python 3.4, ROS Indigo

Had to set TF_PYTHON_LIBRARY manually since CMake was only finding Python 2.7 libraries.

Ubuntu 16.04 64bits, Python 2.7.6, ROS Kinetic

Ubuntu 16.04 64bits, Python 3.5, ROS Kinetic

Had to set TF_PYTHON_LIBRARY manually since CMake was only finding Python 2.7 libraries.

Ubuntu 18.04 64bits, Python 2.7.6, ROS Melodic

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Changelog for package tensorflow_ros_cpp

3.2.0 (2022-06-08)

• Switch to Github Actions CI
• Noetic and TF2 support
• Removed support for TF 1.15 on Indigo as it is known to have problems and Indigo is EOL.
• Better way of detecting CUDA support in pip-found TF.
• Do not output progressbars of pip in travis, the log gets too long then.
• Added support for TF 1.15.
• Update CI to test TF 1.0, 1.8, 1.14 and latest 1.x (not 2.x as before)
• Added possible problem description derived from #9
• Contributors: Martin Pecka

3.1.2 (2019-08-29)

• Merge branch 'master' of git@github.com:tradr-project/tensorflow_ros_cpp.git # Conflicts: # CHANGELOG.md
• Added support for bazel-based build with framework_shared_object=true.
• 3.1.1
• Changelog
• Contributors: Martin Pecka

3.1.1 (2019-07-17)

• Compatibility with TF 1.14.
• Updated tensorflow_catkin link, removed the rename warning.
• Contributors: Martin Pecka

3.1.0 (2018-06-25 16:55)

• Some more informative CMake messages.
• Export tensorflow_ros_cpp_CMAKE_CXX_FLAGS_PRIVATE.
• Export tensorflow_ros_cpp_USES_CXX11_ABI which tells whether the found TF library uses C++11 ABI or not.
• Contributors: Martin Pecka

3.0.1 (2018-06-25 14:45)

• Leave the tensorflow_catkin dependency in package.xml
• Added repository URLs.
• Removed dependency on swig. It should be handled upstream by tensorflow_catkin.
• Contributors: Isaac I.Y. Saito, Martin Pecka

3.0.0 (2018-06-15)

• Fixed travis badge.
• tensorflow_ros -> tensorflow_ros_cpp
• Create CHANGELOG.md
• Rename CONTRIBUTORS to CONTRIBUTORS.md
• Create CONTRIBUTORS
• Update issue templates
• Added license
• Added travis badge
• Contributors: Martin Pecka

2.1.0 (2018-06-14 11:25:04 +0200)

• Added more tests.
• readme update to clarify the options to install TensorFlow.
• Implemented CI.
• Fixed installation of pip-detected TF libraries.
• Updated compatibility list.
• Contributors: Isaac I.Y. Saito, Martin Pecka

2.0.4 (2018-05-04)

• Fixed bazel TF include dir and GPU version detection
• Updated compatibility list.
• Contributors: Martin Pecka

2.0.3 (2018-05-03)

• Updated compatibility list.
• Few improvements in pip and catkin detection
• Improved bazel detection script
• Tested bazel GPU on Xenial
• Contributors: Martin Pecka

2.0.2 (2018-04-27 22:05)

• Adjusted bazel build to GPU version
• Contributors: Martin Pecka

2.0.1 (2018-04-27 19:49)

• Simplified searching for nsync and Eigen
• Contributors: Martin Pecka

2.0.0 (2018-04-27 17:58)

• Polishing.
• Added Ubuntu Xenial test results.

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