ROS+caffe 设置GPU运行

1. 问题描述

最近尝试将目标检测模型集成到ROS上，运行环境为Ubuntu 16.04 + ROS Kinetic
目标检测模块写成了一个node，监听其他node发送过来的图像信息，对接收的图像进行目标检测。测试代码如下所示：

class DetectorNode(object):
    def __init__(self):
        # detection model parameters can be received from server
        root_dir = '/home/yq/catkin_ws/src/object_detection/scripts'
        definition_file = osp.join(root_dir, 'deploy.prototxt')
        binary_file = osp.join(root_dir, 'frcnn_xian_iter_30000.caffemodel')