Running Tests

To verify that the DNN node is working properly, run the basic end-to-end tests that come with caffe_ros package. In the catkin workspace directory, run the following (replace paths if needed):

catkin_make caffe_ros_tests
export TEST_DIR=/caffe_ros/tests/data
export MODEL_DIR=/models/pretrained
rostest caffe_ros tests_basic.launch test_data_dir:=$TEST_DIR \
    trail_prototxt_path:=$MODEL_DIR/TrailNet_SResNet-18.prototxt trail_model_path:=$MODEL_DIR/TrailNet_SResNet-18.caffemodel \
    object_prototxt_path:=$MODEL_DIR/yolo-relu.prototxt object_model_path:=$MODEL_DIR/yolo-relu.caffemodel

Note: running the tests on the device like TX2 may take about two minutes.