Teiyui / yolov5-ros

Mirroring from https://gitlab.com/nenecchi-ws/ros/packages/yolov5-ros

YOLO V5 ROS

This is a ROS wrapper of YOLO V5 for Object Detection from compressed image.

Table of Contents

• Requirement
• Dependencies
• Getting Started
• Weights
• Example
• ROS API
• Contributing
• License

Requirement

• Required
  • Ubuntu 20.04
  • Python 3.8
  • ROS Noetic
• Recommends
  • CUDA >= 11.3

Dependencies

Code wrapped from https://github.com/ultralytics/yolov5

URL: https://github.com/ultralytics/yolov5 Tag: v6.2
Commit: d3ea0df8b9f923685ce5f2555c303b8eddbf83fd
Original README.md: https://github.com/ultralytics/yolov5/blob/v6.2/README.md
Original LICENSE: https://github.com/ultralytics/yolov5/blob/v6.2/LICENSE

Getting Started

git clone --recursive https://gitlab.com/nenecchi-ws/ros/packages/yolov5-ros

cd yolov5-ros
pip install -r requirements.txt

Weights

Get network weights by the shell. (yolov5m.pt and yolov5m_Objects365.pt)
Other weights: https://github.com/ultralytics/yolov5/releases/tag/v6.2

roscd yolov5_ros/weights
bash download.sh

Example

weight: yolov5m.pt

roslaunch yolov5_ros yolov5.launch rviz:=true

weight: yolov5m_Objects365.pt

roslaunch yolov5_ros yolov5_objects365.launch rviz:=true

ROS API

Yolo V5 Node

Subscribed Topics

• /input/image/compressed (sensor_msgs/CompressedImage)

Published Topics

• /output/bboxes (yolov5_ros_msgs/BoundingBoxes)
• /output/image/compressed (sensor_msgs/CompressedImage)

Action Subscribed Namespace

• /action/detection (yolov5_ros_msgs/DetectionAction)

Service

• /service/detection (yolov5_ros_msgs/Detection)

Parameters

• ~score_threshold (double, default=0.2)
• ~iou_threshold (double, default=0.45)
• ~encoding (str, default="rgb8")
• ~device (str, default="cuda")

Contributing

See CONTRIBUTING to learn about CI.

License

GPL-3.0 License (see LICENSE).
Original LICENSE: https://github.com/ultralytics/yolov5/blob/v6.2/LICENSE