Merge pull request #176 from NVIDIA-AI-IOT/dev-sdcard

update to JetPack 4.3 - sdcard v0.4.0

jetbot/ssd_tensorrt/FlattenConcat.cpp

@@ -25,7 +25,7 @@ using namespace nvinfer1;
 namespace
 {
 const char* FLATTENCONCAT_PLUGIN_VERSION{"1"};
-const char* FLATTENCONCAT_PLUGIN_NAME{"FlattenConcat_TRT"};
+const char* FLATTENCONCAT_PLUGIN_NAME{"FlattenConcat_TRT_jetbot"};
 }
 
 // Flattens all input tensors and concats their flattened version together

jetbot/ssd_tensorrt/ssd_tensorrt.py

@@ -1,10 +1,8 @@
 import ctypes
-import graphsurgeon as gs
 import numpy as np
 import os
 import subprocess
 import tensorrt as trt
-import uff
 
 TRT_INPUT_NAME = 'input'
 TRT_OUTPUT_NAME = 'nms'
@@ -86,9 +84,10 @@ def _load_config(config_path):
 
 def ssd_pipeline_to_uff(checkpoint_path, config_path,
                         tmp_dir='exported_model'):
-
+    import graphsurgeon as gs
     from object_detection import exporter
     import tensorflow as tf
+    import uff
 
     # TODO(@jwelsh): Implement by extending model builders with
     # TensorRT plugin stubs.  Currently, this method uses pattern
@@ -177,13 +176,13 @@ def ssd_pipeline_to_uff(checkpoint_path, config_path,
 
     boxloc_concat_plugin = gs.create_plugin_node(
         "boxloc_concat",
-        op="FlattenConcat_TRT",
+        op="FlattenConcat_TRT_jetbot",
         dtype=tf.float32,
     )
 
     boxconf_concat_plugin = gs.create_plugin_node(
         "boxconf_concat",
-        op="FlattenConcat_TRT",
+        op="FlattenConcat_TRT_jetbot",
         dtype=tf.float32,
     )
 
@@ -224,6 +223,7 @@ def ssd_uff_to_engine(uff_buffer,
                       strict_type_constraints=False,
                       log_level=trt.Logger.INFO):
 
+    import uff
     # create the tensorrt engine
     with trt.Logger(log_level) as logger, trt.Builder(logger) as builder, \
         builder.create_network() as network, trt.UffParser() as parser:

notebooks/collision_avoidance/live_demo.ipynb

@@ -237,7 +237,12 @@
    },
    "outputs": [],
    "source": [
+    "import time\n",
+    "\n",
     "camera.unobserve(update, names='value')\n",
+    "\n",
+    "time.sleep(0.1)  # add a small sleep to make sure frames have finished processing\n",
+    "\n",
     "robot.stop()"
    ]
   },
@@ -302,9 +307,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.7"
+   "version": "3.6.9"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

notebooks/road_following/live_demo.ipynb

@@ -317,7 +317,12 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "import time\n",
+    "\n",
     "camera.unobserve(execute, names='value')\n",
+    "\n",
+    "time.sleep(0.1)  # add a small sleep to make sure frames have finished processing\n",
+    "\n",
     "robot.stop()"
    ]
   },
@@ -348,9 +353,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.7"
+   "version": "3.6.9"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

notebooks/road_following/train_model.ipynb

@@ -246,7 +246,7 @@
     "        optimizer.zero_grad()\n",
     "        outputs = model(images)\n",
     "        loss = F.mse_loss(outputs, labels)\n",
-    "        train_loss += loss\n",
+    "        train_loss += float(loss)\n",
     "        loss.backward()\n",
     "        optimizer.step()\n",
     "    train_loss /= len(train_loader)\n",
@@ -258,7 +258,7 @@
     "        labels = labels.to(device)\n",
     "        outputs = model(images)\n",
     "        loss = F.mse_loss(outputs, labels)\n",
-    "        test_loss += loss\n",
+    "        test_loss += float(loss)\n",
     "    test_loss /= len(test_loader)\n",
     "    \n",
     "    print('%f, %f' % (train_loss, test_loss))\n",
@@ -293,9 +293,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.7"
+   "version": "3.6.9"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

scripts/create-sdcard-image-from-scratch.sh

@@ -0,0 +1,75 @@
+#!/bin/bash
+
+password='jetbot'
+
+# Keep updating the existing sudo time stamp
+sudo -v
+while true; do sudo -n true; sleep 120; kill -0 "$$" || exit; done 2>/dev/null &
+
+# Enable i2c permissions
+sudo usermod -aG i2c $USER
+
+# Install pip and some python dependencies
+sudo apt-get update
+sudo apt install -y python3-pip python3-pil
+sudo pip3 install --upgrade numpy
+
+# Install the pre-built TensorFlow pip wheel
+sudo apt-get update
+sudo apt-get install -y libhdf5-serial-dev hdf5-tools libhdf5-dev zlib1g-dev zip libjpeg8-dev
+sudo apt-get install -y python3-pip
+sudo pip3 install -U pip
+sudo pip3 install -U numpy==1.16.1 future==0.17.1 mock==3.0.5 h5py==2.9.0 keras_preprocessing==1.0.5 keras_applications==1.0.6 enum34 futures testresources setuptools protobuf
+sudo pip3 install --pre --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v42 tensorflow-gpu==1.14.0+nv19.10
+
+# Install the pre-built PyTorch pip wheel 
+wget https://nvidia.box.com/shared/static/phqe92v26cbhqjohwtvxorrwnmrnfx1o.whl -O torch-1.3.0-cp36-cp36m-linux_aarch64.whl
+sudo pip3 install numpy torch-1.3.0-cp36-cp36m-linux_aarch64.whl
+
+# Install torchvision package
+git clone https://github.com/pytorch/vision
+cd vision
+git checkout v0.4.0
+sudo python3 setup.py install
+
+# Install traitlets (master, to support the unlink() method)
+sudo python3 -m pip install git+https://github.com/ipython/traitlets@master
+
+# Install jupyter lab
+sudo apt install -y nodejs npm
+sudo pip3 install jupyter jupyterlab
+sudo jupyter labextension install @jupyter-widgets/jupyterlab-manager
+
+jupyter lab --generate-config
+#jupyter notebook password
+python3 -c "from notebook.auth.security import set_password; set_password('$password', '$HOME/.jupyter/jupyter_notebook_config.json')"
+
+# install jetbot python module
+cd
+sudo apt install -y python3-smbus
+cd ~/jetbot
+sudo apt-get install -y cmake
+sudo python3 setup.py install 
+
+# Install jetbot services
+cd jetbot/utils
+python3 create_stats_service.py
+sudo mv jetbot_stats.service /etc/systemd/system/jetbot_stats.service
+sudo systemctl enable jetbot_stats
+sudo systemctl start jetbot_stats
+python3 create_jupyter_service.py
+sudo mv jetbot_jupyter.service /etc/systemd/system/jetbot_jupyter.service
+sudo systemctl enable jetbot_jupyter
+sudo systemctl start jetbot_jupyter
+
+# Make swapfile
+cd 
+sudo fallocate -l 4G /var/swapfile
+sudo chmod 600 /var/swapfile
+sudo mkswap /var/swapfile
+sudo swapon /var/swapfile
+sudo bash -c 'echo "/var/swapfile swap swap defaults 0 0" >> /etc/fstab'
+
+# Copy JetBot notebooks to home directory
+cp -r ~/jetbot/notebooks ~/Notebooks
+

scripts/run-script-and-save-log.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+./create-sdcard-image-from-scratch.sh 2>&1 | tee ~/jetbot-create-sdcard-image.log

setup.py

@@ -13,7 +13,7 @@ def build_libs():
 
 setup(
     name='jetbot',
-    version='0.3.0',
+    version='0.4.0',
     description='An open-source robot based on NVIDIA Jetson Nano',
     packages=find_packages(),
     install_requires=[