For simplified Chinese version: 简体中文版
This package provides a ROS wrapper for PyTorch-YOLOv8 based on PyTorch-YOLOv8. The package has been tested with Ubuntu 18.04 and Ubuntu 20.04.
V1.0.1: Add device options(cpu or gpu).
Authors: Zhitao Zheng (qq44642754@163.com)
- Ubuntu 18.04 / 20.04
- ROS Melodic / Noetic
- Python>=3.7.0 environment, including PyTorch>=1.7
Pip install the ultralytics package including all requirements in a Python>=3.7 environment with PyTorch>=1.7.
pip install ultralytics
pip install rospkg
cd /your/catkin_ws/src
git clone https://github.com/qq44642754a/Yolov8_ros.git
cd ..
catkin_make
- First, make sure to put your weights in the weights folder.
- The default settings (using
yolov8s.pt
) in thelaunch/yolo_v8.launch
file should work, all you should have to do is change the image topic you would like to subscribe to:
roslaunch yolov8_ros yolo_v8.launch
Alternatively you can modify the parameters in the launch file, recompile and launch it that way so that no arguments need to be passed at runtime.
-
image_topic
Subscribed camera topic.
-
weights_path
Path to weights file.
-
pub_topic
Published topic with the detected bounding boxes.
-
confidence
Confidence threshold for detected objects.