Changes so that the code can run on the AGX Xavier.

launch/ipa_test.launch

@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="video" default="$(find tfpose_ros)/etcs/dance.mp4" />
+    <arg name="video_width" default="1280" />
+    <arg name="video_height" default="720" />
+
+    <arg name="gpuid" default="0" />
+
+    <!--
+    <arg name="model" default="cmu" />
+    -->
+    <arg name="model" default="mobilenet_thin" />
+    <arg name="resolution" default="432x368" />
+
+    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+        <param name="video_device" value="/dev/video0" />
+        <param name="image_width" value="640" />
+        <param name="image_height" value="360" />
+        <param name="pixel_format" value="yuyv" />
+        <param name="camera_frame_id" value="usb_cam" />
+        <param name="io_method" value="mmap"/>
+    </node>
+
+    <node name="pose_estimator" pkg="tfpose_ros" type="broadcaster_ros.py" output="screen" required="true">
+        <env name="CUDA_VISIBLE_DEVICES" value="$(arg gpuid)" />
+        <param name="camera" value="/usb_cam/image_raw" />
+        <param name="model" value="$(arg model)" />
+        <param name="resolution" value="$(arg resolution)" />
+    </node>
+
+    <node name="pose_estimator_vis" pkg="tfpose_ros" type="visualization.py" output="screen" required="true">
+        <param name="camera" value="/usb_cam/image_raw" />
+        <param name="pose" value="/pose_estimator/pose" />
+    </node>
+
+    <node name="video_recorder" pkg="video_recorder" type="recorder.py" output="screen" required="true">
+        <param name="output_width" type="int" value="640" />
+        <param name="output_height" type="int" value="720" />
+        <param name="output_format" value="xvid" />
+        <param name="output_path" value="" />
+
+        <param name="output_topic" value="~output" />
+
+        <param name="source1" value="/usb_cam/image_raw,0,0,640,360" />
+        <param name="source2" value="/pose_estimator_vis/output,0,360,640,360" />
+    </node>
+</launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>tfpose_ros</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>ROS Package for Human Pose Estimation Implemented in Tensorflow</description>
 
   <maintainer email="[email protected]">Curtis Kim</maintainer>
@@ -20,4 +20,4 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>rospy</run_depend>
 
-</package>
+</package>

setup.py

@@ -53,13 +53,10 @@
     author='Ildoo Kim',
     author_email='[email protected]',
     license='Apache License 2.0',
-    package_dir={'tf_pose_data': 'models'},
-    packages=['tf_pose_data'] +
-             [pkg_name for pkg_name in setuptools.find_packages()  # main package
-              if 'tf_pose' in pkg_name],
+    packages=setuptools.find_packages(),
     ext_modules=[EXT],
-    package_data={'tf_pose_data': ['graph/cmu/graph_opt.pb',
-                                   'graph/mobilenet_thin/graph_opt.pb']},
+    data_files=[('models/graph/cmu', ['models/graph/cmu/graph_opt.pb']),
+                ('models/graph/mobilenet_thin', ['models/graph/mobilenet_thin/graph_opt.pb']), ],
     py_modules=[
         "pafprocess"
     ],

tf_pose/estimator.py

@@ -14,7 +14,7 @@
 
 try:
     from tf_pose.pafprocess import pafprocess
-except ModuleNotFoundError as e:
+except Exception as e:
     print(e)
     print('you need to build c++ library for pafprocess. See : https://github.com/ildoonet/tf-pose-estimation/tree/master/tf_pose/pafprocess')
     exit(-1)