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If you check the content of the following link and reads the CMakeLists.txt and the main program, you will find that adding the next lines allows you to use tensorflow with ROS. I'm still new so I only copied things...
https://github.com/flobotics/flobotics_tensorflow_controller
add the following to your package CMakeLists.txt, where script.py is the script you are going to run
catkin_python_setup()
and
catkin_install_python(PROGRAMS
scripts/script.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
Copy setup.py files to your package src folder
Enjoy