YOLO ROS: Real-Time Object Detection for ROS

Installations

1. Create a workspace name yolo and git clone this package into that package

   mkdir ~/yolo

   cd yolo

   mkdir src

   cd src

   git clone https://github.com/HuTlabs/darknet_ros.git

   cd ..

   catkin_make

2. After doing catkin_make, follow this path

   cd src/darknet_ros/darknet_ros/yolo_network_config/weights

   The weights should be download with the help of how_to_download_weights.txt file and kept in that folder itself.

Working

For camera, we will obtain rbg camera topic and depth camera topic, which should make a note of these.

1. Need to change the topic in 2 places

   i) cd src/darknet_ros/darknet_ros/config/

   In ros.yaml file, change the topic of camera_reading and camera_depth.

   ii) cd src/darknet_ros/darknet_rod/src

   In the YoloObjectDetector.cpp file, change the rbg and depth image topic names on line no 44, 45.

2. Launch the detection file

   cd ~/yolo

   catkin_make

   source devel/setup.bash

   roslaunch darknet_ros yolo_v3.launch

3. Run compare.py file, which is presented in src folder.