Add ssd to bounding box sample

[Kanazawanaoaki]

Using this PR(#2511 ), I am making a sample that creates a bounding box from the detection results of SSD.

Even at this point, I can get a bounding box out with SSD of edge tpu.

roslaunch jsk_recognition_utils sample_ssd_to_bounding_box.launch
# you should do $ source ~/coral_ws/devel/setup.bash
roslaunch sample_ssd_in_coral.launch  

However, using 73b2 kitchen model in jsk_perception doesn't work now.
I suspect it is due to the specifications of the computer.
If you can ues gpu and run this, it might work.

roslaunch jsk_recognition_utils sample_ssd_to_bounding_box_73b2.launch gpu:=0
# if you don't have gpu you should run this instead. $ roslaunch jsk_recognition_utils  sample_ssd_to_bounding_box_73b2.launch

[k-okada]

@knorth55 please review

[knorth55]

@Kanazawanaoaki can you check this PR?
Kanazawanaoaki#1
I update your branch and works fine both with TPU and GPU.

[knorth55]

@Kanazawanaoaki
kindly ping. can you check this PR if it is working properly in your environment, too?
if so, please merge my PR to your branch.
Kanazawanaoaki#1

[Kanazawanaoaki]

@knorth55 Thank you for debugging.
In my environment it looks like this.

$ git branch 
* (HEAD detached at knorth55/add-ssd-to-bbox)
  add-rects-to-cpi
  add-ssd-to-bbox
  master
$ roslaunch jsk_recognition_utils sample_ssd_to_bounding_box_73b2_kitchen.launch gpu:=-1

It seems that /segmentation_decomposer/boxes and /image_cpi_decomposer/output are not published.

$ rostopic hz /image_cpi_decomposer/output
subscribed to [/image_cpi_decomposer/output]
WARNING: may be using simulated time
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
$ rostopic hz /segmentation_decomposer/boxes
subscribed to [/segmentation_decomposer/boxes]
WARNING: may be using simulated time
no new messages
no new messages
no new messages
no new messages
no new messages

[knorth55]

@Kanazawanaoaki that's weird.
do you have any error on your terminal?
also can you show be the output of git log?

[Kanazawanaoaki]

The terminal when running is like this. (https://gist.github.com/Kanazawanaoaki/140634e7e122a49bad5418091955ecf9#file-sample_ssd_to_bounding_box-log-1 )
There are warnings, but no errors.

$ git log
commit 6b660f5f06fd6141d048973315f7a74db2e02019 (HEAD, knorth55/add-ssd-to-bbox)
Author: Shingo Kitagawa <[email protected]>
Date:   Fri Sep 4 01:44:02 2020 +0900

    update doc

commit 2f4778098b76e24c92e0ab4049d1e11fc1e5b28d
Author: Shingo Kitagawa <[email protected]>
Date:   Fri Sep 4 01:41:33 2020 +0900

    rename launch and rvizconfig

commit 0e203f769ef8b27f731d615b8bb9ebdd9caefa82
Author: Shingo Kitagawa <[email protected]>
Date:   Fri Sep 4 01:25:49 2020 +0900

    rename to sample_table_rects_to_bounding_box.launch

commit 91e53f890a4d81f0429f7469e83a1c62ba5dacd3
Author: Shingo Kitagawa <[email protected]>
Date:   Fri Sep 4 01:24:16 2020 +0900

    update rviz config

commit 07cd3004836304ade2e5a2c436a09eb85951ead6
Author: Shingo Kitagawa <[email protected]>
Date:   Fri Sep 4 01:24:07 2020 +0900

    refactor launch files

commit ad9ad0a738712df82ed174916ea6182bb5aa4d04
Author: Kanazawanaoaki <[email protected]>
Date:   Sat Jun 20 20:26:36 2020 +0900

    add ssd output arg
:

It worked like this just once.
(https://gist.github.com/Kanazawanaoaki/140634e7e122a49bad5418091955ecf9#file-sample_ssd_to_bounding_box-log-2-suc )

[knorth55]

@Kanazawanaoaki it seems it's working.
maybe you should try it with more powerful cpu or gpu

[Kanazawanaoaki]

I see, that's right. I merged the PR.
Kanazawanaoaki#1

[knorth55]

@Kanazawanaoaki great job! thank you so much!