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YOLOv8 with ROS1

Ubuntu 20.04 Ros noetic Python 3.8

Note
This project if forked from
ultralytics/ultralytics

🚀 install

Install the required library:

sudo apt install python3-pip
pip install ultralytics
pip install rospkg

Clone the repo into your catkin workspace and build the package:

mkdir -p yolov8_ws/src && cd yolov8_ws/src
git clone https://github.com/JINtaeung/yolov8_ros1.git
cd ../ && catkin build
echo "source ~/yolov8_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

📋 Usage

Before you launch the node, adjust the parameters in the launch file.

params value
"img_data" "usb_cam or gazebo"
"weight_path" "weight file path"
"image_topic" "탐지할 이미지 rostopic" (usb_cam인 경우 필요X)
"cen_topic" "중심점 출력 rostopic"
"conf" "해당 값 이하의 confidence이면 탐지X"
"result_pub" "true: 탐지 영상 /yolo/detection_image로 publish"

✅ Test

  • YOLOv8 실행
roslaunch yolov8_ros yolo_v8.launch

📡 Output Rostopic

  • Center pose of Bounding box
rostopic echo /yolo/center

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