Yolov8_ros

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)

develop environment：

• Ubuntu 18.04 / 20.04
• ROS Melodic / Noetic
• Python>=3.7.0 environment, including PyTorch>=1.7

Prerequisites:

Pip install the ultralytics package including all requirements in a Python>=3.7 environment with PyTorch>=1.7.

pip install ultralytics
pip install rospkg

Installation yolov8_ros

cd /your/catkin_ws/src

git clone https://github.com/qq44642754a/Yolov8_ros.git

cd ..

catkin_make

Basic Usage

1. First, make sure to put your weights in the weights folder.
2. The default settings (using yolov8s.pt) in the launch/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.

Node parameters

• 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.