YOLOv6_ROS

Built and tested on Python3.8, Ubuntu 20.04, ROS Noetic.

🧰 Build

Clone the official yolov6 repo into src directory :

cd <yolov6_ros_directory>/src
git clone https://github.com/meituan/YOLOv6.git yolov6
git checkout 0.2.0  # Tested version works on this release only 

Swap the file yolov6/core/inferer.py with src/inferer.py

Clone the detection_msgs package: https://github.com/phuoc101/detection_msgs.git

Note: Please set up a ROS virtual environment with Pytorch and source it before running the package, for examnple:

virtualenv --system-site-packages -p python3.8 ~/ros_torch_env
## install dependencies in the environment base on yolov6's requirements.txt

To build the package:

cd <YOUR_ROS_WORKSPACE>
catkin build yolov6_ros
source devel/setup.bash #or setup.zsh, depends on what shell you're using

🔥 Running the demo

To run the webcam demo:

roslaunch yolov6_ros yolov6.launch
# to test with webcam, need to install usb_cam ROS package first
roslaunch yolov6_ros yolov6_webcam.launch