jetson nano安装darknet_ros
注:下载源码,网上版本繁多下载复杂质量参差不齐,这里我给出自测OK代码,代码托管在gitee上面
一、下载ros darknet代码
- 下载源码和权重文件
源码:https://gitee.com/bluesky_ryan/darknet_ros.git
weights文件:https://pan.baidu.com/s/174NKBrWr7ObjU-DkaDlRpQ 提取码:v8tk - 将下载weights文件放在:{catkin_ws}/darknet_ros/darknet_ros/yolo_network_config/weights
二、配置jetson opencv环境
- 安装opencv3.4.2版本,使用jetson nano自带的opencv4.x编译会报错,安装步骤参考《jetson nano opencv3.4.x安装》
error "OpenCV 4.x+ requires enabled C++11 support" while executing catkin make,
- 配置opencv cmake桥接目录
sudo vim /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
三、编译
catkin_make -DCMAKE_BUILD_TYPE=Release
问题1:
# error "OpenCV 4.x+ requires enabled c++11 support"
解决:
安装Opencv3.4.10 版本,,自带Opencv4.x编译报错
问题2:
cv_bridgeConfig.cmake:113
解决:
sudo apt install ros-melodic-cv-bridge
sudo vim /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
四、启动
- 配置launch 图像topic,我的是:/camera/rgb/image_raw
- 启动摄像头launch文件
- 启动 darknet_ros,fps在10左右
roslaunch darknet_ros darknet_ros.launch