I have been playing with a #selfdriving car for a while
, and that is super exciting. From a #AI and #ML perspective it is small scale but allows one to exploit all aspects of the tech stack and also appreciate the limitations of not only the software but also the hardware.
With this, You run a NN on a raspberry pi that uses TensorFlow, and Keras and run inference on the edge. The pi doesn’t have enough power to train, so you need to do that on a beefier machine and then deploy the model back to run this.
Now, I didn’t have any issues in getting this running on Windows, but getting it on a Mac was a different story. The documentation is there that outlines all the steps, and even if you follow it to the T, it breaks right in the end.
When I tried to create a car, using a createcar command (this essentially creates the buckets, where you would save the training images, and the model, and the configuration of the car when you connect to it from your machine). The actual file paths would probably be different for you but, essentially it is the same thing.
Traceback (most recent call last):
File "/anaconda3/envs/donkey/bin/donkey", line 6, in <module>
from pkg\_resources import load\_entry\_point
File "<frozen importlib.\_bootstrap>", line 961, in \_find\_and\_load
File "<frozen importlib.\_bootstrap>", line 950, in \_find\_and\_load\_unlocked
File "<frozen importlib.\_bootstrap>", line 646, in \_load\_unlocked
File "<frozen importlib.\_bootstrap>", line 616, in \_load\_backward\_compatible
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 2985, in <module>
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 2971, in \_call\_aside
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 2998, in \_initialize\_master\_working\_set
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 662, in \_build\_master
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 675, in \_build\_from\_requirements
File "/anaconda3/envs/donkey/lib/python3.6/site-packages/setuptools-27.2.0-py3.6.egg/pkg\_resources/\_\_init\_\_.py", line 854, in resolve
pkg\_resources.DistributionNotFound: The 'imageio<3.0,>=2.5' distribution was not found and is required by moviepy
The key here to focus is on the last lines on both of those blocks of code - the main thing causing the issue is MoviePy (see highlighted lines above).
MoviePy
is a Python library for video editing: cutting, concatenations, title insertions, video compositing (a.k.a. non-linear editing), video processing, and creation of custom effects.
It seems like when you go through the steps - clone the repo, setup anaconda, install tensorflow and get the car configured - there is a mismatch in the MoviePy dependencies which it doesn’t like. The way to fix the issue is outlined below.
MoviePy is something you don’t need to use right away but later when trying to make a movie (using the makemovie command - which allows you to create a movie file from the images in a Tub.); this is not essential. To do this, the easiest way is to remove (or my suggestion it to comment) out the moviepy dependency from the setup.py file.
This should be line 33 in the setup.py file that you will find in the same folder where you cloned the git repo. As an example the updated file is below, where the moviepy dependency is commented out (see highlighted). And once you save this and go about creating the car, it should work. Of course you cannot use the makemovie option later.
fromsetuptoolsimportsetup,find\_packagesimportoswithopen("README.md","r")asfh:long\_description=fh.read()setup(name='donkeycar',version='2.5.7',description='Self driving library for python.',long\_description=long\_description,long\_description\_content\_type="text/markdown",url='https://github.com/autorope/donkeycar',download\_url='https://github.com/autorope/donkeycar/archive/2.1.5.tar.gz',author='Will Roscoe',author\_email='[email protected]',license='MIT',entry\_points={'console\_scripts': \['donkey=donkeycar.management.base:execute\_from\_command\_line', \],},install\_requires=\['numpy','pillow','docopt','tornado==4.5.3','requests','h5py','python-socketio','flask','eventlet',#'moviepy','pandas', \],extras\_require={'tf': \['tensorflow>=1.9.0'\],'tf\_gpu': \['tensorflow-gpu>=1.9.0'\],'pi': \['picamera','Adafruit\_PCA9685', \],'dev': \['pytest','pytest-cov','responses' \],'ci': \['codecov'\]},include\_package\_data=True,classifiers=\[# How mature is this project? Common values are# 3 - Alpha# 4 - Beta# 5 - Production/Stable'Development Status :: 3 - Alpha',# Indicate who your project is intended for'Intended Audience :: Developers','Topic :: Scientific/Engineering :: Artificial Intelligence',# Pick your license as you wish (should match "license" above)'License :: OSI Approved :: MIT License',# Specify the Python versions you support here. In particular, ensure# that you indicate whether you support Python 2, Python 3 or both.'Programming Language :: Python :: 3.5','Programming Language :: Python :: 3.6', \],keywords='selfdriving cars donkeycar diyrobocars',packages=find\_packages(exclude=(\['tests','docs','site','env'\])),)
Once you have saved the setup.py file, you need to run the installation again with the following command and then run the create car command. Both of these are outlined below.
Once you run these, then you should see the successful installation as shown by the output below. Note - your output might be a little different depending on the conda state of packages
(donkey) AMAC02XN1T9JGH5:donkeycar amit.bahree$ pip install -e .
Obtaining file:///Users/amit.bahree/CloudStation/Documents/Code/donkeycar
Requirement already satisfied: numpy in /anaconda3/envs/donkey/lib/python3.6/site-packages (from donkeycar==2.5.7)(1.14.5)Requirement already satisfied: pillow in /anaconda3/envs/donkey/lib/python3.6/site-packages (from donkeycar==2.5.7)(4.2.1)Requirement already satisfied: docopt in /anaconda3/envs/donkey/lib/python3.6/site-packages (from donkeycar==2.5.7)(0.6.2)Collecting tornado==4.5.3 (from donkeycar==2.5.7)Requirement already satisfied: requests in /anaconda3/envs/donkey/lib/python3.6/site-packages (from donkeycar==2.5.7)(2.18.4)Requirement already satisfied: h5py in /anaconda3/envs/donkey/lib/python3.6/site-packages (from donkeycar==2.5.7)(2.7.1)Collecting python-socketio (from donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/a1/71/118e4b7fb453d7095d6863f4b783dbaa57109af4bc2380300649c8942d61/python\_socketio-4.0.0-py2.py3-none-any.whl
Collecting flask (from donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/7f/e7/08578774ed4536d3242b14dacb4696386634607af824ea997202cd0edb4b/Flask-1.0.2-py2.py3-none-any.whl
Collecting eventlet (from donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/86/7e/96e1412f96eeb2f2eca9342dcc4d5bc9305880a448b603b0a8e54439b71c/eventlet-0.24.1-py2.py3-none-any.whl
Collecting pandas (from donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/99/12/bf4c58eea94cea4f91ff931f284146337814fb8546e6eb0b52584446fd52/pandas-0.24.1-cp36-cp36m-macosx\_10\_6\_intel.macosx\_10\_9\_intel.macosx\_10\_9\_x86\_64.macosx\_10\_10\_intel.macosx\_10\_10\_x86\_64.whl
Requirement already satisfied: olefile in /anaconda3/envs/donkey/lib/python3.6/site-packages (from pillow->donkeycar==2.5.7)(0.44)Requirement already satisfied: chardet<3.1.0,>=3.0.2 in /anaconda3/envs/donkey/lib/python3.6/site-packages (from requests->donkeycar==2.5.7)(3.0.4)Requirement already satisfied: certifi>=2017.4.17 in /anaconda3/envs/donkey/lib/python3.6/site-packages (from requests->donkeycar==2.5.7)(2017.7.27.1)Requirement already satisfied: idna<2.7,>=2.5 in /anaconda3/envs/donkey/lib/python3.6/site-packages (from requests->donkeycar==2.5.7)(2.6)Requirement already satisfied: urllib3<1.23,>=1.21.1 in /anaconda3/envs/donkey/lib/python3.6/site-packages (from requests->donkeycar==2.5.7)(1.22)Requirement already satisfied: six in /anaconda3/envs/donkey/lib/python3.6/site-packages (from h5py->donkeycar==2.5.7)(1.10.0)Collecting python-engineio>=3.2.0 (from python-socketio->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/95/91/d083bd7b5d408af53633377dfbf87bf181236c8916d36213388b12eaa999/python\_engineio-3.4.3-py2.py3-none-any.whl
Collecting click>=5.1 (from flask->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/fa/37/45185cb5abbc30d7257104c434fe0b07e5a195a6847506c074527aa599ec/Click-7.0-py2.py3-none-any.whl
Collecting itsdangerous>=0.24 (from flask->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/76/ae/44b03b253d6fade317f32c24d100b3b35c2239807046a4c953c7b89fa49e/itsdangerous-1.1.0-py2.py3-none-any.whl
Collecting Werkzeug>=0.14 (from flask->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/20/c4/12e3e56473e52375aa29c4764e70d1b8f3efa6682bef8d0aae04fe335243/Werkzeug-0.14.1-py2.py3-none-any.whl
Collecting Jinja2>=2.10 (from flask->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/7f/ff/ae64bacdfc95f27a016a7bed8e8686763ba4d277a78ca76f32659220a731/Jinja2-2.10-py2.py3-none-any.whl
Collecting monotonic>=1.4 (from eventlet->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/ac/aa/063eca6a416f397bd99552c534c6d11d57f58f2e94c14780f3bbf818c4cf/monotonic-1.5-py2.py3-none-any.whl
Collecting greenlet>=0.3 (from eventlet->donkeycar==2.5.7)Collecting dnspython>=1.15.0 (from eventlet->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/ec/d3/3aa0e7213ef72b8585747aa0e271a9523e713813b9a20177ebe1e939deb0/dnspython-1.16.0-py2.py3-none-any.whl
Collecting pytz>=2011k (from pandas->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/61/28/1d3920e4d1d50b19bc5d24398a7cd85cc7b9a75a490570d5a30c57622d34/pytz-2018.9-py2.py3-none-any.whl
Collecting python-dateutil>=2.5.0 (from pandas->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/41/17/c62faccbfbd163c7f57f3844689e3a78bae1f403648a6afb1d0866d87fbb/python\_dateutil-2.8.0-py2.py3-none-any.whl
Collecting MarkupSafe>=0.23 (from Jinja2>=2.10->flask->donkeycar==2.5.7) Using cached https://files.pythonhosted.org/packages/f0/00/a6aea33f5598b080b86d6b6d1214b51afe3ffa6100b902d5aa465080083f/MarkupSafe-1.1.1-cp36-cp36m-macosx\_10\_6\_intel.whl
Installing collected packages: tornado, python-engineio, python-socketio, click, itsdangerous, Werkzeug, MarkupSafe, Jinja2, flask, monotonic, greenlet, dnspython, eventlet, pytz, python-dateutil, pandas, donkeycar
Found existing installation: tornado 4.5.1
Uninstalling tornado-4.5.1:
Successfully uninstalled tornado-4.5.1
Found existing installation: Werkzeug 0.12.2
Uninstalling Werkzeug-0.12.2:
Successfully uninstalled Werkzeug-0.12.2
Running setup.py develop for donkeycar
Successfully installed Jinja2-2.10 MarkupSafe-1.1.1 Werkzeug-0.14.1 click-7.0 dnspython-1.16.0 donkeycar eventlet-0.24.1 flask-1.0.2 greenlet-0.4.15 itsdangerous-1.1.0 monotonic-1.5 pandas-0.24.1 python-dateutil-2.8.0 python-engineio-3.4.3 python-socketio-4.0.0 pytz-2018.9 tornado-4.5.3
And when I run the createcar, you can see it worked as expected. In my case creating the ‘mycar’ folder in my home directory. Of course you can choose this wherever you prefer.
(donkey) AMAC02XN1T9JGH5:donkeycar amit.bahree$ donkey createcar ~/mycar
using donkey version: 2.5.7 ...
Creating car folder: /Users/amit.bahree/mycar
making dir /Users/amit.bahree/mycar
Creating data & model folders.
making dir /Users/amit.bahree/mycar/models
making dir /Users/amit.bahree/mycar/data
making dir /Users/amit.bahree/mycar/logs
Copying car application template: donkey2
Copying car config defaults. Adjust these before starting your car.
Donkey setup complete.
It is interesting to see this is more stable on Windows, than on a Mac. Also, one last thing to leave you with - when I first ran the installation, the hint that someone was wrong was in the output, but I didn’t pay too much attention to it. See the red line highlighted in the output below.
moviepy failure – donkeycar installation
Don’t know at this time on what the solution for moviepy is to get this sorted - luckily its not a big deal at the moment.
