ROS-YOLOV3

1.网址

https://github.com/leggedrobotics/darknet_ros

2.步骤

2.1 down zip(不好用,cmake error)

catkin_ws(ROS工作空间根目录)下编译

cd catkin_workspace/src
git clone --recursive git@github.com:leggedrobotics/darknet_ros.git
cd ../

catkin_make -DCMAKE_BUILD_TYPE=Release

2.2 下载权重文件

1. 方式一:(较慢)

cd catkin_workspace/src/darknet_ros/darknet_ros/yolo_network_config/weights/

COCO data set (Yolo v2):
  wget http://pjreddie.com/media/files/yolov2.weights
  wget http://pjreddie.com/media/files/yolov2-tiny.weights

VOC data set (Yolo v2):
  wget http://pjreddie.com/media/files/yolov2-voc.weights
  wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights

Yolo v3:
  wget http://pjreddie.com/media/files/yolov3.weights
  wget http://pjreddie.com/media/files/yolov3-voc.weights

2. 方式二:

关于yolov3.weights文件下载地址的分享

2.3 配置ROS摄像头

1. 1.下载驱动

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

1. 2.发布话题

另开终端:
进入ros

roscore

roslaunch usb_cam usb_cam-test.launch

1. 3.修改配置

1.config/ros.yaml文件,修改camera/rgb为usb_cam
2.darknet_ros.launch文件下Yolov2-tiny.yaml改为yolov3.yaml

回到darknet的工作空间根目录

source devel/setup.bash
roslaunch darknet_ros darknet_ros.launch

1. 4.启动检测:

roslaunch darknet_ros darknet_ros.launch