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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