YOLOv5 + ROS2 object detection package

Related tags

Deep Learning object-detection ros2 yolov5
Overview

YOLOv5-ROS

YOLOv5 + ROS2 object detection package

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

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

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

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Comments
  • How to disable gui?

    How to disable gui?

    Hello, thanks fore sharing such a great project. I am trying to launch this package remotely on a target from terminal. This cause below error which I assume due from lack of Xwindow.

    qt.qpa.xcb: could not connect to display 
[yolov5_ros-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/home/odroid/.local/lib/python3.8/site-packages/cv2/qt/plugins" even though it was found.

    Is there a way to disable any gui thing to be displayed? Tried to set view_img to False but no luck. Thanks,

    opened by kyuhyong 6
  • How to publish bboxed image?

    How to publish bboxed image?

    I am trying to publish images with bounding boxes as ros msg. To do so, I modified def image_callback(self, image_raw): in main.py to return im0 as below

                # Stream results
            im0 = annotator.result()
            if self.view_img:
                cv2.imshow("yolov5", im0)
                cv2.waitKey(1)  # 1 millisecond

            return class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list, im0

    and in image_callback in yolov5_ros I modified publisher as below

        def image_callback(self, image:Image):
        image_raw = self.bridge.imgmsg_to_cv2(image, "bgr8")
        # return (class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list)
        class_list, confidence_list, x_min_list, y_min_list, x_max_list, y_max_list, yolo_img = self.yolov5.image_callback(image_raw)

        msg = self.yolovFive2bboxes_msgs(bboxes=[x_min_list, y_min_list, x_max_list, y_max_list], scores=confidence_list, cls=class_list, img_header=image.header)
        self.pub_bbox.publish(msg)
        yolo_img = self.bridge.cv2_to_imgmsg(yolo_img, "bgr8")
        self.pub_image.publish(yolo_img)

    However I am still getting image without any bounding boxes. What am I missing here?

    opened by kyuhyong 4
  • Image is flipped when published as ros msg but not with cv2.imshow

    Image is flipped when published as ros msg but not with cv2.imshow

    I don't know why but published image is flipped from original image.

    Left image from rqt_image_view and right is raw cv2.imshow image from yolov5_ros Screenshot from 2022-06-30 22-32-31

    After adding this line just before converting to ros image it works as expected.

    im0 = cv2.flip(im0,-1)
output_img = self.bridge.cv2_to_imgmsg(im0, "bgr8")

    Screenshot from 2022-06-30 22-54-21

    opened by kyuhyong 2
  • ModuleNotFoundError: No module named 'yolov5_ros.models'

    ModuleNotFoundError: No module named 'yolov5_ros.models'

    The log is shown below.

    scorpion@scorpion-Alienware-15-R2:~/YOLOv5-ROS/yolov5_ros$ ros2 launch yolov5_ros yolov5s_simple.launch.py
[INFO] [launch]: All log files can be found below /home/scorpion/.ros/log/2022-12-20-17-38-03-987038-scorpion-Alienware-15-R2-9422
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [v4l2_camera_node-1]: process started with pid [9424]
[INFO] [yolov5_ros-2]: process started with pid [9426]
[v4l2_camera_node-1] [INFO] [1671575884.208218548] [v4l2_camera]: Driver: uvcvideo
[v4l2_camera_node-1] [INFO] [1671575884.208412683] [v4l2_camera]: Version: 331584
[v4l2_camera_node-1] [INFO] [1671575884.208436659] [v4l2_camera]: Device: Integrated_Webcam_HD: Integrate
[v4l2_camera_node-1] [INFO] [1671575884.208455103] [v4l2_camera]: Location: usb-0000:00:14.0-7
[v4l2_camera_node-1] [INFO] [1671575884.208471871] [v4l2_camera]: Capabilities:
[v4l2_camera_node-1] [INFO] [1671575884.208488101] [v4l2_camera]:   Read/write: NO
[v4l2_camera_node-1] [INFO] [1671575884.208504908] [v4l2_camera]:   Streaming: YES
[v4l2_camera_node-1] [INFO] [1671575884.208528334] [v4l2_camera]: Current pixel format: YUYV @ 640x480
[v4l2_camera_node-1] [INFO] [1671575884.208747031] [v4l2_camera]: Available pixel formats: 
[v4l2_camera_node-1] [INFO] [1671575884.208774567] [v4l2_camera]:   YUYV - YUYV 4:2:2
[v4l2_camera_node-1] [INFO] [1671575884.208792819] [v4l2_camera]:   MJPG - Motion-JPEG
[v4l2_camera_node-1] [INFO] [1671575884.208810979] [v4l2_camera]: Available controls: 
[v4l2_camera_node-1] [INFO] [1671575884.208834777] [v4l2_camera]:   Brightness (1) = 0
[v4l2_camera_node-1] [INFO] [1671575884.208856682] [v4l2_camera]:   Contrast (1) = 0
[v4l2_camera_node-1] [INFO] [1671575884.208877763] [v4l2_camera]:   Saturation (1) = 64
[v4l2_camera_node-1] [INFO] [1671575884.209672436] [v4l2_camera]:   Hue (1) = 0
[v4l2_camera_node-1] [INFO] [1671575884.209700335] [v4l2_camera]:   White Balance Temperature, Auto (2) = 1
[v4l2_camera_node-1] [INFO] [1671575884.209721638] [v4l2_camera]:   Gamma (1) = 100
[v4l2_camera_node-1] [INFO] [1671575884.209742055] [v4l2_camera]:   Power Line Frequency (3) = 2
[v4l2_camera_node-1] [INFO] [1671575884.210499628] [v4l2_camera]:   White Balance Temperature (1) = 4600
[v4l2_camera_node-1] [INFO] [1671575884.210524687] [v4l2_camera]:   Sharpness (1) = 2
[v4l2_camera_node-1] [INFO] [1671575884.210546682] [v4l2_camera]:   Backlight Compensation (1) = 3
[v4l2_camera_node-1] [INFO] [1671575884.210566907] [v4l2_camera]:   Exposure, Auto (3) = 3
[v4l2_camera_node-1] [INFO] [1671575884.211420513] [v4l2_camera]:   Exposure (Absolute) (1) = 156
[v4l2_camera_node-1] [INFO] [1671575884.211445963] [v4l2_camera]:   Exposure, Auto Priority (2) = 1
[v4l2_camera_node-1] [INFO] [1671575884.211464194] [v4l2_camera]: Time-per-frame support: YES
[v4l2_camera_node-1] [INFO] [1671575884.211481798] [v4l2_camera]:   Current time per frame: 1/30 s
[v4l2_camera_node-1] [INFO] [1671575884.211498995] [v4l2_camera]:   Available intervals:
[v4l2_camera_node-1] [INFO] [1671575884.211537585] [v4l2_camera]:     MJPG 848x480: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211563511] [v4l2_camera]:     MJPG 960x540: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211589060] [v4l2_camera]:     MJPG 1280x720: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211608484] [v4l2_camera]:     MJPG 1920x1080: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211628875] [v4l2_camera]:     YUYV 160x120: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211648906] [v4l2_camera]:     YUYV 320x180: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211667603] [v4l2_camera]:     YUYV 320x240: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211686215] [v4l2_camera]:     YUYV 424x240: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211705252] [v4l2_camera]:     YUYV 640x360: 1/30
[v4l2_camera_node-1] [INFO] [1671575884.211724573] [v4l2_camera]:     YUYV 640x480: 1/30 1/30
[v4l2_camera_node-1] [ERROR] [1671575884.235226969] [v4l2_camera]: Failed setting value for control White Balance Temperature to 4600: Input/output error (5)
[v4l2_camera_node-1] [ERROR] [1671575884.240629678] [v4l2_camera]: Failed setting value for control Exposure (Absolute) to 156: Input/output error (5)
[v4l2_camera_node-1] [INFO] [1671575884.241630530] [v4l2_camera]: Starting camera
[v4l2_camera_node-1] [INFO] [1671575884.502911951] [v4l2_camera]: using default calibration URL
[v4l2_camera_node-1] [INFO] [1671575884.502987893] [v4l2_camera]: camera calibration URL: file:///home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml
[v4l2_camera_node-1] [ERROR] [1671575884.503063327] [camera_calibration_parsers]: Unable to open camera calibration file [/home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml]
[v4l2_camera_node-1] [WARN] [1671575884.503075037] [v4l2_camera]: Camera calibration file /home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml not found
[yolov5_ros-2] Traceback (most recent call last):
[yolov5_ros-2]   File "/home/scorpion/YOLOv5-ROS/yolov5_ros/install/yolov5_ros/lib/yolov5_ros/yolov5_ros", line 33, in <module>
[yolov5_ros-2]     sys.exit(load_entry_point('yolov5-ros==0.2.0', 'console_scripts', 'yolov5_ros')())
[yolov5_ros-2]   File "/home/scorpion/YOLOv5-ROS/yolov5_ros/install/yolov5_ros/lib/yolov5_ros/yolov5_ros", line 25, in importlib_load_entry_point
[yolov5_ros-2]     return next(matches).load()
[yolov5_ros-2]   File "/usr/lib/python3.8/importlib/metadata.py", line 77, in load
[yolov5_ros-2]     module = import_module(match.group('module'))
[yolov5_ros-2]   File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
[yolov5_ros-2]     return _bootstrap._gcd_import(name[level:], package, level)
[yolov5_ros-2]   File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
[yolov5_ros-2]   File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[yolov5_ros-2]   File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
[yolov5_ros-2]   File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
[yolov5_ros-2]   File "<frozen importlib._bootstrap_external>", line 848, in exec_module
[yolov5_ros-2]   File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
[yolov5_ros-2]   File "/home/scorpion/YOLOv5-ROS/yolov5_ros/install/yolov5_ros/lib/python3.8/site-packages/yolov5_ros/main.py", line 12, in <module>
[yolov5_ros-2]     from yolov5_ros.models.common import DetectMultiBackend
[yolov5_ros-2] ModuleNotFoundError: No module named 'yolov5_ros.models'
[ERROR] [yolov5_ros-2]: process has died [pid 9426, exit code 1, cmd '/home/scorpion/YOLOv5-ROS/yolov5_ros/install/yolov5_ros/lib/yolov5_ros/yolov5_ros --ros-args --params-file /tmp/launch_params_jd_gmg18'].

    I only changed script_dir and install_scripts from - to underscore. Could you help me?

    opened by 13randNEW 0
Owner
Ar-Ray
1st grade of National Institute of Technology(=Kosen) student. Associate degree
Ar-Ray
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