我创建了一个 ROS 包,其中有一些 python 脚本。python脚本基于torch模块(它是pytorch模型的推理代码)。当我尝试运行我的脚本时,它给了我一个错误:
ImportError: No module named torch
为了安装 ROS,我使用 了 ROS wiki 的说明。为了验证我的安装,我遵循了 ROS(一个简单的发布者和订阅者)的示例代码,它运行良好。我的系统信息是:
python:3.6.9
torch:1.1.0
torchvision:0.3.0
操作系统内核:Linux 4.15.0-74-通用
操作系统发行版:Ubuntu 18.04.3
我想导入以下库:
import torch
from cv_bridge import CvBridge
import cv2
import os
import numpy as np
from torch.autograd import Variable
from torchvision import transforms
import torch.nn.functional as F
import torch._utils
import time
from PIL import Image
我的 CMake 文件如下:
cmake_minimum_required(VERSION 2.8.3)
project(inference_pytorch)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
set(Torch_DIR ".local/lib/python3.6/site-packages/torch/share/cmake/Torch")
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
cv_bridge
)
find_package(Torch REQUIRED)
find_package(OpenCV 3 REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
###################################
## catkin specific configuration ##
###################################
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES inference_pytorch
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
${OPENCV_INCLUDE_DIRS}
${Torch_INSTALL_INCLUDE}
${Torch_DIR}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
install(PROGRAMS
scripts/inference_test.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS scripts/inference_test.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
link_directories(
${Torch_INSTALL_LIB}
)
现在,我应该如何编辑 CMAKE 文件以将提到的库添加到我的 ROS 包中?