YOLO-ROS

YOLO-ROS for PyTorch

YOLO-ROS for TensorRT, please checkout for branch tensorrt

YOLO-ROS for HUAWEI ATLAS200, please checkout for branch atlas200

Modified from ros-yolov5, originated from yolov5

1. clone YOLO-ROS

   cd {YOUR_WORKSPACE}/src
   git clone https://github.com/jianhengLiu/yolo_ros.git
   

2. install python dependencies

sudo apt install ros-melodic-ros-numpy
sudo apt install python3-pip -y 
pip3 install --upgrade pip

pip3 install torch torchvision --extra-index-url https://download.pytorch.org/whl/cu113

pip3 install -r yolo_ros/requirements.txt
//这一步安装到opencv-python会卡住 可以手动安装
pip cache purge
pip install opencv-python==4.5.3.56

catkin build

3. catkin_make

4. roslaunch yolo_ros yolo_service.launch

5. play your rosbag.

启动

roslaunch yolo_ros yolo_service.launch

然后播放自己的bag或者启动摄像头

话题是/camera/color/image_raw

如果要显示检测框的话

将service_client.cpp的注释取消掉