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Darknet YOLO with ROS 1

TurtleBot3-YOLO

Build:

  1. Make a directory ROS1_WS to act as your ROS 1 workspace.
    $ mkdir -p ~/ROS1_WS/src/
  2. Clone this repository:
    $ git clone https://github.com/Tinker-Twins/YOLO-ROS-1.git
  3. Install OpenCV (or build from source).
    $ sudo apt update
    $ sudo apt install libopencv-dev python3-opencv
  4. Build boost.
    $ cd YOLO-ROS-1/boost
    $ ./bootstrap.sh
    $ ./b2 headers
  5. Build the ROS packages (build in Release mode to maximize performance).
    $ cd ~/ROS1_WS
    $ catkin_make -DCMAKE_BUILD_TYPE=Release
  6. Source the setup.bash file of your ROS1_WS.
    $ echo "source ~/ROS1_WS/devel/setup.bash" >> ~/.bashrc
    $ source ~/.bashrc

Execute:

$ roslaunch darknet_ros darknet_ros.launch

Configure:

  • Names and other parameters of the publishers, subscribers and actions can be modified from darknet_ros/darknet_ros/config/ros.yaml.
  • Parameters related to YOLO object detection algorithm can be modified from darknet_ros/darknet_ros/config/yolo.yaml.
  • It is recommended to create a copy of the existing configuration file(s) as a template and do necessary modifications.
  • Reference the updated configuration file(s) in darknet_ros/darknet_ros/launch/darknet_ros.launch or create new launch file(s).