test_torch

0. Introduction

This is a generic ROS package designed to test the functionality of LibTorch. https://pytorch.org/get-started/locally/

Tested Libtorch version:

Please download cxx11 ABI version, otherwise it may cause ROS library error.

Reference:

• Libtorch with ROS
• Using Libtorch and ROS together causes library error, issue #60178

1. Installation

• Move this package to the directory of your ROS workspace (e.g., catkin_ws/src/).

  • Create a workspace: cd $HOME && mkdir -p catkin_ws/src

  • Clone the repo into the workspace:

    cd $HOME/catkin_ws/src
    git clone https://github.com/KafuuChikai/test_torch.git
    

• Change the Torch_DIR variable in the CMakeLists.txt file to point to your LibTorch installation directory.

  # set package directories
  set(Torch_DIR {Your_libtorch_path})

• Navigate to the catkin_ws/ directory and then build:

  catkin_make

Possible make ERROR:

CMake Error at test_torch/CMakeLists.txt:1 (cmake_minimum_required):
  CMake 3.18 or higher is required.  You are running version 3.xx.x

Resolution: update Cmake：

1. Download from https://cmake.org/files/ and

   tar -xvzf cmake-3.xx.tar.gz

2. Make and install

   cd cmake-3.xx.tar.gz
   ./configure
   make
   sudo make install
   

2. getting started

To get started, open a terminal and start roscore.

roscore

Then, in another terminal, run ROS node.

rosrun test_torch test_torch

3. raspberry pi

• Tested Libtorch version:

https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.6.0%2Bcpu.zip

Do not use v2.2.x. Just download and there is no need to make.

• Tested CMake version:

​ cmake-3.18.5.tar.gz

​ Install is the same as Ubuntu!