A catkin-friendly package for utilizing the C++ API of tensorflow.
This library was tested on Ubuntu 14.04 64bit with Python 2.7.6, ROS Indigo and the following TF libraries installed via pip:
- tensorflow==1.1.0
- tensorflow==1.3.0
- tensorflow==1.4.0
- tensorflow_gpu==1.1.0
- tensorflow_gpu==1.3.0
- tensorflow_gpu==1.4.0
This package assumes tensorflow python package is installed. Ideally via pip, but custom installs are also supported (it they're either on PYTHON_PACKAGE_PATH or if you manually specify environment variable TENSORFLOW_PATH).
You also need to compile it using a more recent compiler that supports C++11. The default compiler on Ubuntu Trusty can't do that. You can install a conforming GCC 4.9 using these commands (but be aware that it can cause you some trouble with older programs in the worst case):
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-4.9
sudo update-alternatives --remove-all gcc
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 20
sudo update-alternatives --config gcc
This may also cause some ROS-related incompatibilities, since ROS officially doesn't support C++11. But it works well-enough for me. If you face any kind of strange linking/runtime problems, report them!
This package uses a "hack" to link against the library that's installed by pip. I have no idea if this is currently an officially supported way of accessing the C++ API, but it seems to work.