YOLOX+ROS2 Foxy
🔼 Unity + YOLOX-ROS Demo
| Base | ROS2 C++ | ROS2 Python |
|---|---|---|
| CPU | ✅ | |
| CUDA | ✅ | |
| CUDA (FP16) | ✅ | |
| TensorRT (CUDA) | ✅ | |
| OpenVINO | ✅ |
Python (PyTorch)
- ROS2 Foxy
- OpenCV 4
- Python 3.8 (Ubuntu 20.04 Default)
- PyTorch >= v1.7
- YOLOX v0.2.0
- bbox_ex_msgs
Install the dependent packages based on all tutorials.
git clone https://github.com/Megvii-BaseDetection/YOLOX.git
cd YOLOX
pip3 install -v -e .source /opt/ros/foxy/setup.bash
sudo apt install ros-foxy-v4l2-camera
git clone --recursive https://github.com/Ar-Ray-code/yolox_ros.git ~/ros2_ws/src/yolox_ros/
cd ~/ros2_ws
colcon build --symlink-install # weights files will be installed automatically.If you have NVIDIA Graphics, you can run YOLOX-ROS on GPU.
Additional installing lists
- NVIDIA Graphics Driver
- CUDA toolkit (11.0)
- torch+cuda
Connect your web camera.
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
ros2 launch yolox_ros_py yolox_s_cpu.launch.py
# ros2 launch yolox_ros_py yolox_s.launch.py # <- GPUC++ (OpenVINO)
- Docker Images is Released.
- ROS2 Foxy
- OpenCV 4
- OpenVINO
- bbox_ex_msgs
source /opt/ros/foxy/setup.bash
sudo apt install ros-foxy-v4l2-camera
source /opt/intel/openvino_2021/bin/setupvars.sh
cd ~/ros2_ws/src
git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS.git
# Download onnx file and Convert to IR format.
./YOLOX-ROS/weights/openvino/install.bash yolox_nanoConnect your web camera.
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
ros2 launch yolox_ros_cpp yolox_openvino.launch.pyC++ (TensorRT)
Docker Images is Released.
- image_raw (
sensor_msgs/Image)
-
yolox/image_raw : Resized image (
sensor_msgs/Image) -
yololx/bounding_boxes : Output BoundingBoxes like darknet_ros_msgs (
bboxes_ex_msgs/BoundingBoxes)※ If you want to use
darknet_ros_msgs, replacebboxes_ex_msgswithdarknet_ros_msgs.
- Check launch files.
- Supports C++ only.
Check this repository (RenderTexture2ROS2Image).
@article{yolox2021,
title={YOLOX: Exceeding YOLO Series in 2021},
author={Ge, Zheng and Liu, Songtao and Wang, Feng and Li, Zeming and Sun, Jian},
journal={arXiv preprint arXiv:2107.08430},
year={2021}
}
- Ar-Ray : Japanese student.
- Blog (Japanese) : https://ar-ray.hatenablog.com/
- Twitter : https://twitter.com/Ray255Ar