ROS 2 packages using ML

ROS ROS General
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Edge AI WG is putting together a list of packages that use ML. (fyi draft list of ros2 standard libraries). please add ros2 packages that use ML or HW acceleration.

We want to build / improve ML capabilities in ROS. Impression is there is not yet much ML in mainstream ROS. Seems there are many prototypes and demos, not much that is core.

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Are you asking people to contribute to a list on discourse or in the standard library REP? If it is for the REP I would assume you are looking for tools/libraries that are generically useful rather than application specific tools (e.g. license plate readers). Is this assumption correct?

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for now just making an informal list on discourse. @smac had suggested discourse might be more accessible for early discussion, happy to move to GitHub list as things progress. I assume tools/libraries that re generically useful, though even application specific tools (e.g. license plate readers) are interesting.

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I agree that’s unclear. There’s definitely no ML in that list.

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Here are some ROS 2 packages I know about ML.

https://github.com/alsora/ros2-tensorflow

Hope this can help.

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More ROS2 packages about ML:
• Intel AI framework and model optimizer (Open Source Version): Intel OpenVINO, which is not ROS2 package, but the fundamental framework for ROS2 OpenVINO Toolkit.
• ROS2 wrapper and deep learning pipeline management tool: ROS2 OpenVINO Toolkit
• ROS2 module for real time object tracking and 3D localization
• ROS2 Grasp Library

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Some ROS2 packages for REL I checkout some time ago:

  • ros2learn
  • gym_gazebo

They were developed by Acutronic Robotics. But as you might know, they closed down last year.
So they do not have a maintainer currently.

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Thank you for the interest in my package ros2-tensorflow.

I wanted to let you know that I updated the package, such that it works with:

  • ubuntu 18.04
  • ros2 eloquent
  • tensorflow 2.0

The dockerfile has been updated as well, so you can use it to get a system with all the dependencies.

Unfortunately, there are some bugs in ros2 eloquent related to displaying images: images from the cam2image node will not be rendered in rviz (fix here maybe? Fix frame_id by gonzodepedro · Pull Request #433 · ros2/demos · GitHub) and in rviz if you try to resize the image display, rviz will crash (fix here RViz crashes when mouse intersects with the image plugin panel · Issue #486 · ros2/rviz · GitHub)

If you are interested in my package and you have issues while using it, don’t hesitate to open a ticket on github

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GitHub - tradr-project/tensorflow_ros_cpp: Catkin-friendly C++ bindings for tensorflow. is only a ROS 1 package, but it brings complex support for various types of installations of Tensorflow and enables using its C++ API with ROS. I think porting it for ROS 2 users, and to support Tensorflow 2, could also help.

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