Fire Extinguisher Detector Server

This is an example of a network compute bridge server. It is similar to tensorflow_server.py, but uses Keras Retinanet instead of TensorFlow. The provided model specifically detects fire extinguishers

Build and Export

This example can be run on a local machine directly, but is easier to use with Docker.

The Docker image can be built and exported with the following commands:

# builds the image
sudo docker build -t fire_ext_detector .

# exports the image, uses pigz
sudo docker save fire_ext_detector | pigz > fire_ext_detector.tar.gz

To build the image for CORE I/O:

# Prerequisites
# Install the pigz and qemu packages
sudo apt-get install qemu binfmt-support qemu-user-static pigz
# This step will execute the registering scripts
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

# Builds the image
sudo docker build -t fire_ext_detector:l4t -f Dockerfile.l4t .

# Exports the image, uses pigz
sudo docker save fire_ext_detector:l4t | pigz > fire_ext_detector.tar.gz

Execution

To run this example on a Spot CORE, run:

./start_server.sh

Otherwise, run:

sudo docker run -d --name retinanet_server --network host --env BOSDYN_CLIENT_USERNAME --env BOSDYN_CLIENT_PASSWORD --restart unless-stopped fire_ext_detector -d . --port $PORT $ROBOT_IP
  • $PORT is the port to use for the server on the machine the server is running on

  • $ROBOT_IP is the IP address or hostname of your Spot.

  • $USERNAME is the username for the robot

  • $PASSWORD is the password for the robot

To run this example on a CORE I/O, run:

# Load the image
sudo docker load -i fire_ext_detector.tar.gz

# Run the container
sudo docker run -d \
    --gpus all \
    --name retinanet_server \
    --network host \
    --restart unless-stopped \
    -v /opt/payload_credentials/payload_guid_and_secret:/opt/payload_credentials/payload_guid_and_secret \
    fire_ext_detector:l4t \
    -d . 192.168.50.3 --payload-credentials-file /opt/payload_credentials/payload_guid_and_secret

Spot Extension for CORE I/O

This example also provides a script for building the fire extinguisher detector into a Spot Extension. This script requires the same prerequisites as listed above for building a docker image for CORE I/O. Additionally, this script requires that the current user be added to the docker user group. If this is not the case, the script needs to be run with root privileges.

./create_extension.sh

The output file will be called fire_ext_detector.spx and can be uploaded to a CORE I/O.