ROS noetic + Anaconda3 + YOLOv5

Reference

https://conda.io/projects/conda/en/latest/commands.html

 

sip2@sip2-2021:~$ source ~/anaconda3/etc/profile.d/conda.sh
 

sip2@sip2-2021:~$ conda info --e
# conda environments:
#
base                  *  /home/sip2/anaconda3
py38-test                /home/sip2/anaconda3/envs/py38-test
py38-torch1-12-1         /home/sip2/anaconda3/envs/py38-torch1-12-1

sip2@sip2-2021:~$ conda create -n py38-torch1-12-1-gpu-od --clone py38-torch1-12-1
Source:      /home/sip2/anaconda3/envs/py38-torch1-12-1
Destination: /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od

sip2@sip2-2021:~$ conda activate py38-torch1-12-1-gpu-od

sip2@sip2-2021:~$ mkdir -p ~/catkin_od/src

sip2@sip2-2021:~$ cd catkin_od

sip2@sip2-2021:~/catkin_od$ catkin_make

...

-- Configuring done
-- Generating done
-- Build files have been written to: /home/sip2/catkin_od/build
####
#### Running command: "make -j16 -l16" in "/home/sip2/catkin_od/build"
####

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ cd src/object_detection/scripts/yolov5/
 

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od/src/object_detection/scripts/yolov5$ pip install -r requirements.txt

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ source devel/setup.bash

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ rosrun object_detection ros_yolov5_multiple.py
Traceback (most recent call last):
  File "/home/sip2/catkin_od/src/object_detection/scripts/yolov5/ros_yolov5_multiple.py", line 4, in <module>
    import rospy
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
    from .client import spin, myargv, init_node, \
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 52, in <module>
    import roslib
  File "/opt/ros/noetic/lib/python3/dist-packages/roslib/__init__.py", line 50, in <module>
    from roslib.launcher import load_manifest  # noqa: F401
  File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
    import rospkg
ModuleNotFoundError: No module named 'rospkg'

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ pip install rospkg
Collecting rospkg
  Downloading rospkg-1.4.0-py3-none-any.whl (36 kB)
Collecting distro>=1.4.0
  Downloading distro-1.7.0-py3-none-any.whl (20 kB)
Collecting catkin-pkg
  Downloading catkin_pkg-0.5.2-py3-none-any.whl (76 kB)
     ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 76.1/76.1 kB 2.2 MB/s eta 0:00:00
Requirement already satisfied: PyYAML in /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages (from rospkg) (6.0)
Requirement already satisfied: python-dateutil in /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages (from catkin-pkg->rospkg) (2.8.2)
Collecting docutils
  Downloading docutils-0.19-py3-none-any.whl (570 kB)
     ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 570.5/570.5 kB 9.0 MB/s eta 0:00:00
Requirement already satisfied: setuptools in /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages (from catkin-pkg->rospkg) (63.4.1)
Requirement already satisfied: pyparsing in /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages (from catkin-pkg->rospkg) (3.0.9)
Requirement already satisfied: six>=1.5 in /home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages (from python-dateutil->catkin-pkg->rospkg) (1.16.0)
Installing collected packages: docutils, distro, catkin-pkg, rospkg
Successfully installed catkin-pkg-0.5.2 distro-1.7.0 docutils-0.19 rospkg-1.4.0

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ rosrun object_detection ros_yolov5_multiple.py
Traceback (most recent call last):
  File "/home/sip2/catkin_od/src/object_detection/scripts/yolov5/ros_yolov5_multiple.py", line 26, in <module>
    import skimage
ModuleNotFoundError: No module named 'skimage'

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ pip install scikit-image

(py38-torch1-12-1-gpu-od) sip2@sip2-2021:~/catkin_od$ rosrun object_detection ros_yolov5_multiple.py

  File "/home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages/torch/nn/modules/upsampling.py", line 154, in forward
    recompute_scale_factor=self.recompute_scale_factor)
  File "/home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1207, in __getattr__
    raise AttributeError("'{}' object has no attribute '{}'".format(
AttributeError: 'Upsample' object has no attribute 'recompute_scale_factor'

"/home/sip2/anaconda3/envs/py38-torch1-12-1-gpu-od/lib/python3.8/site-packages/torch/nn/modules/upsampling.py"

before

def forward(self, input: Tensor) -> Tensor:

return F.interpolate(input, self.size, self.scale_factor, self.mode, self.align_corners,

recompute_scale_factor=self.recompute_scale_factor)

after

def forward(self, input: Tensor) -> Tensor:

return F.interpolate(input, self.size, self.scale_factor, self.mode, self.align_corners

)

Test result