This repository contains the YoloBot_src ROS2 package, which subscribes to the /camera/image_raw topic, performs inference using YOLOv8, and publishes the inferred results.
Click above to watch the video demonstration of the project.
This package depends on the bot_spawn ROS2 package, which can be found at https://github.com/Kaivalya192/bot_spawn. Make sure to clone and install the bot_spawn package before using YoloBot_src.
Additionally, ensure that you have the ultalytics Python package installed. You can install it using pip:
pip3 install ultalyticsCreate a workspace folder named ros2_ws.
Clone this repository into the src folder of your ROS2 workspace (ros2_ws/src/).
git clone https://github.com/Kaivalya192/YoloBot_src.gitNavigate to the root of your workspace (ros2_ws/) and build the packages using the following command:
colcon buildAfter successful build, source the setup script to add the package to your ROS2 environment:
source install/setup.bashBefore running the package, make sure to launch the bot_spawn package, which provides the necessary robot model and camera topics. You can follow the instructions in the bot_spawn README.md for setup.
To launch the YoloBot_src package, make sure that the bot_spawn package is running and publishing /camera/image_raw. Then, execute the following command:
ros2 launch YoloBot_src launch_yolov8.launch.pyThis command will start the YOLOv8 inference node, which subscribes to /camera/image_raw, performs inference, and publishes the results.
- Ensure that your system meets the requirements for running YOLOv8 inference.
- Adjust the configuration parameters as needed in the launch file or source code.
- For any issues or improvements, feel free to open an issue or pull request on GitHub.
This project is licensed under the MIT License, which means you are free to use, modify, and distribute the code as long as you include the original license file.