chelixuan / yolov5_ros_ws

A complete ROS interface for running YOLOv5 inference

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.

This Repository is forked from mats-robotics/yolov5_ros.

Installation

ROS Installation

Method 1（Recommend）: quick install

# 鱼香 ROS
wget http://fishros.com/install -O fishros && . fishros

Method 2：step by step install

# step 1: 添加ros软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# step 2: 添加秘钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# step 3：添加完源后记得更新一下
sudo apt update
# step 4: 安装 ros
# 查看自己的 ubuntu 版本,安装与自己ubuntu版本匹配的 ROS 版本
lsb_release -a
# ubuntu 20.04 安装 noetic「完整桌面版安装」
sudo apt install ros-noetic-desktop-full

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:

Method 1: follow official YOLOv5 repository

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

Method 2 : Recommend

git clone https://github.com/chelixuan/yolov5_ros_ws.git
cd yolov5_ros_ws/src/yolov5
pip install -r requirements.txt 
pip install empy==3.3.2
pip install catkin-tools rospkg

• Build the ROS package: conda envs

cd yolov5_ros_ws
which python # 查看当前 python 的地址，例如得到 /home/chelx/.conda/envs/ros/bin/python
catkin_make -DPYTHON_EXECUTABLE=/home/chelx/.conda/envs/ros/bin/python # 使用当前环境的python，编译
# 编译过程中，在工作空间的根目录里会自动产生build和devel两个文件夹及其中的文件
# 使用source命令运行devel中的 setup.bash 脚本文件，使工作空间中的环境变量可以生效
source devel/setup.bash
# 为了确保环境变量已经生效，可以使用如下命令进行检查：
echo $ROS_PACKAGE_PATH

• 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:

rosbag play <your-rosbag.bag>
roslaunch yolov5_ros yolov5.launch

• visualize outputs:

rosnode list
rosnode info /detect
rviz

rostopic echo /yolov5/detections

Using custom weights and dataset (Working)

• 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