kalpa123456/yolov5-ros

YOLOv5 + ROS2 object detection package

YOLOv5-ROS

YOLOv5 + ROS2 object detection package

This program changes the input of detect.py (ultralytics/yolov5) to sensor_msgs/Image of ROS2.

Installation

mkdir -p ws_yolov5/src
cd ws_yolov5/src

git clone https://github.com/Ar-Ray-code/YOLOv5-ROS.git
git clone https://github.com/Ar-Ray-code/bbox_ex_msgs.git

pip3 install -r ./YOLOv5-ROS/requirements.txt

colcon build --symlink-install

Demo

cd ws_yolov5/
source ./install/setup.bash
ros2 launch yolov5_ros yolov5s_simple.launch.py

Requirements

• ROS2 Foxy
• OpenCV 4
• PyTorch
• bbox_ex_msgs

Topic

Subscribe

• image_raw (sensor_msgs/Image)

Publish

• yolov5/image_raw : Resized image (sensor_msgs/Image)
• yololv5/bounding_boxes : Output BoundingBoxes like darknet_ros_msgs (bboxes_ex_msgs/BoundingBoxes)

※ If you want to use darknet_ros_msgs , replace bboxes_ex_msgs with darknet_ros_msgs.

About YOLOv5 and contributers

• YOLOv5 : GitHub
• Glenn Jocher : GitHub

What is YOLOv5 🚀

YOLOv5 is the most useful object detection program in terms of speed of CPU inference and compatibility with PyTorch.

Shortly after the release of YOLOv4 Glenn Jocher introduced YOLOv5 using the Pytorch framework. The open source code is available on GitHub

About writer

• Ar-Ray : Japanese student.
• Blog (Japanese) : https://ar-ray.hatenablog.com/
• Twitter : https://twitter.com/Ray255Ar