ultralytics_ros

ROS package for real-time object detection using the Ultralytics YOLO, enabling flexible integration with various robotics applications.

Setup

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ python3 -m pip install -r ultralytics_ros/requirements.txt
$ cd ~/catkin_ws
$ rosdep install -r -y -i --from-paths .
$ catkin build

Usage

Run tracker_node

$ roslaunch ultralytics_ros tracker.launch debug:=true

Run tracker_node & tracker_with_cloud_node

$ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true

Params

• tracker_node

  • yolo_model: Pre-trained Weights.
    For yolov8, you can choose yolov8n.pt, yolov8s.pt, yolov8m.pt, yolov8l.pt, yolov8x.pt.
    See also: https://docs.ultralytics.com/models/
  • image_topic: Topic name for image. (sensor_msgs/Image)
  • detection_topic: Topic name for 2D bounding box. (vision_msgs/Detection2DArray)
  • conf_thres: Confidence threshold below which boxes will be filtered out.
  • iou_thres: IoU threshold below which boxes will be filtered out during NMS.
  • max_det: Maximum number of boxes to keep after NMS.
  • tracker: Tracking algorithms.
  • classes: List of class indices to consider.
    See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/datasets/coco128.yaml
  • debug: If true, run simple viewer.
  • debug_conf: Whether to plot the detection confidence score.
  • debug_line_width: Line width of the bounding boxes.
  • debug_font_size: Font size of the text.
  • debug_labels: Font to use for the text.
  • debug_font: Whether to plot the label of bounding boxes.
  • debug_boxes: Whether to plot the bounding boxes.

• tracker_with_cloud_node

  • camera_info_topic: Topic name for camera_info. (sensor_msgs/CameraInfo)
  • lidar_topic: Topic name for lidar. (sensor_msgs/PointCloud2)
  • detection3d_topic: Topic name for 3D bounding box. (vision_msgs/Detection3DArray)
  • cluster_tolerance: Spatial cluster tolerance as a measure in the L2 Euclidean space.
  • min_cluster_size: Minimum number of points that a cluster needs to contain.
  • max_cluster_size: Maximum number of points that a cluster needs to contain.

Docker with KITTI datasets 🐳

Build & Run

$ cd ~/catkin_ws/src/ultralytics_ros/docker
$ bash build.sh
$ bash run.sh

Quick start

$ roslaunch ultralytics_ros kitti_tracker_with_cloud.launch
$ rosbag play kitti_2011_09_26_drive_0106_synced.bag --clock --loop