YOLOv5 ROS
This is a ROS interface for using YOLOv5 for real time object detection on a ROS image topic. It supports inference on multiple deep learning frameworks used in the official YOLOv5 repository.
Installation
Dependencies
This package is built and tested on Ubuntu 20.04 LTS and ROS Noetic with Python 3.8.
- Clone the packages to ROS workspace and install requirement for YOLOv5 submodule:
cd <ros_workspace>/src
git clone https://github.com/mats-robotics/detection_msgs.git
git clone --recurse-submodules https://github.com/mats-robotics/yolov5_ros.git
cd yolov5_ros/src/yolov5
pip install -r requirements.txt # install the requirements for yolov5
- Build the ROS package:
cd <ros_workspace>
catkin build yolov5_ros # build the ROS package
- Make the Python script executable
cd <ros_workspace>/src/yolov5_ros/src
chmod +x detect.py
Basic usage
Change the parameter for input_image_topic
in launch/yolov5.launch to any ROS topic with message type of sensor_msgs/Image
or sensor_msgs/CompressedImage
. Other parameters can be modified or used as is.
- Launch the node:
roslaunch yolov5_ros yolov5.launch
Using custom weights and dataset (not tested)
- Put your weights into
yolov5_ros/src/yolov5
- Put the yaml file for your dataset classes into
yolov5_ros/src/yolov5/data
- Change related ROS parameters in yolov5.launch:
weights
,data
Reference
- YOLOv5 official repository: https://github.com/ultralytics/yolov5
- YOLOv3 ROS PyTorch: https://github.com/eriklindernoren/PyTorch-YOLOv3
- Darknet ROS: https://github.com/leggedrobotics/darknet_ros