Yolo_ROS

Guide to using the YOLO system in ROS

(I felt that it did not work well even if I followed the articles posted on the Internet, and I recorded it mainly for solutions by situation.)

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Ros installation

What is ROS?

ROS(Robot Operating System)is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. Basically, it works in the Ubunto environment.

If you want to install, go here and follow the instructions. http://wiki.ros.org/ROS/Installation

Zed_ros installation

What is Zed? https://www.stereolabs.com/zed-2/ detail information for installation: https://www.stereolabs.com/docs/ros/

installation

$ cd ~/catkin_ws/src
$ git clone https://github.com/stereolabs/zed-ros-wrapper.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash

run

ZED camera:

$ roslaunch zed_wrapper zed.launch

ZED Mini camera:

$ roslaunch zed_wrapper zedm.launch

ZED 2 camera:

$ roslaunch zed_wrapper zed2.launch

Yolo istallation

(On the teminal)

download

$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ git clone --recursive git@github.com:leggedrobotics/darknet_ros.git
$ cd ../

compile

$ catkin_make -DCMAKE_BUILD_TYPE=Release

run

$ roslaunch darknet_ros darknet_ros.launch

I mention that there are some people who have problems sometimes, but if there is a yolov3 folder in catkin_ws/src rather than a darknet_ros folder, you need to change the code a little and run it.

$ roslaunch darknet_ros yolov3.launch

result

(yolov2-tniy)

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YOLO version change

The default version is yolov2tiny, but If you want to use a different version of the weights (go to https://github.com/leoll2/darknet_ros_zed and follow the weights download guide) and Find the darknet_ros.launch file among the files in catkin_ws.

Download weights

$ cd catkin_ws/src/darknet_ros/darknet_ros/yolo_network_config/weights

• COCO data set(Yolov2)

wget http://pjreddie.com/media/files/yolov2.weights
wget http://pjreddie.com/media/files/yolov2-tiny.weights

• VOC data set(Yolov2)

wget http://pjreddie.com/media/files/yolov2-voc.weights
wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights

• Yolov3

wget http://pjreddie.com/media/files/yolov3-tiny.weights
wget http://pjreddie.com/media/files/yolov3.weights

setting

#Maybe here
$ cd catkin_ws/src/darknet_ros/darknet_ros/launch
#opend darknet_ros.launch with gedit 
$ gedit darknet_ros.launch

For example, if you want to change from yolov2.tiny version to yolov3 Modify the dragged part

result

change from

arg name="network_param_file"         default="$(find darknet_ros)/config/yolov2-tiny.yaml"/

to

arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/

yolov3 launch

$ roslaunch darknet_ros darknet_ros.launch

result

Settings for each camera used

You have to set it up for each camera you use. Currently, I am using a ZED2 camera, so I will first tell you how to set up a ZED camera, and then write the code for the USB_CAM that is commonly used.

What is zed2 cmera?
https://www.stereolabs.com/docs/

First, if you use the zed2 camera

Since the zed2 camera provides various functions such as depth, tracking, object recognition, etc., the user has to set the required topic.

Details on the topic:
https://www.stereolabs.com/docs/ros/zed-node/#zed-parameters

The topic code of the desired function must be written in the ros.yaml file.

subscribers:
camera_reading:
topic: /zed/left/image_raw_color
queue_size: 1

Second, the most commonly used USB_CAM case

install

sudo apt-get install ros-kinetic-usb-cam

topic setting

subscribers:
camera_reading:
  topic: /usb_cam/image_raw
  queue_size: 1

run

roslaunch usb_cam usb_cam-test.launch

Error occurrence situation

CASE1

When Darknet doesn't work

build

$ cd catkin_ws
$ source devel/setup.bash

run

$ roslaunch darknet_ros darknet_ros.launch

CASE2

When the Zed camera doesn't work

build

$ cd catkin_ws
$ source ./devel/setup.bash

run

$ roslaunch zed_wrapper zed2.launch 

CASE3

Darkent_ROS is working, but When the desired camera (now using zed2) is not recognized and only wait for image is displayed on the terminal.

In this case, you need to find the ros.yaml file and yolov3.yaml file and make changes. The ros.yaml,yolov3.yaml files are here.

$ cd catkin_ws/src/darknet_ros/darknet_ros/config

Change the code in ros.yaml like this

subscribers:
camera_reading:
topic: /zed/left/image_raw_color
queue_size: 1
actions:
camera_reading:
name: /darknet_ros/check_for_objects
publishers:
object_detector:
topic: /darknet_ros/found_object
queue_size: 1
latch: false
bounding_boxes:
topic: /darknet_ros/bounding_boxes
queue_size: 1
latch: false
detection_image:
topic: /darknet_ros/detection_image
queue_size: 1
latch: true
image_view:
enable_opencv: true
wait_key_delay: 1
enable_console_output: true

Change the code in yolov3.yaml like this(You can see the screenshot at the bottom)

Add the dragged part.

RVIZ

Additionally, it can be visually helpful if you use RVIZ. RVIZ is a 3D visualization tool for ROS applications.

install The installation command differs depending on your ROS (in my case it was the melodic version).

$ sudo apt-get install ros-groovy-rviz
# or
$ sudo apt-get install ros-hydro-rviz
# or
$ sudo apt-get install ros-indigo-rviz
# or
$ sudo apt-get install ros-kinetic-rviz
# or
$ sudo apt-get install ros-melodic-rviz
# or
$ sudo apt-get install ros-noetic-rviz

build

$ source /opt/ros/melodic/setup.bash
$ roscore

run

$ rosrun rviz rviz

If yolo_ros, zed camera is on, press ADD in RVIZ to see various functions.