🧭YOLOv5-ROS Navigation🧭

Two main parts:

1. YOLOv5-ROS for General Object Detection
2. YOLOv5-ROS for Navigation (calculating distance and heading angle to the target)

💥YOLOv5-ROS for Object Detection

This part performs standard YOLOv5 object detection using images from a ROS topic.

Script yolo_v5_nonvisual.py

Subscribes to a ROS image topic, receives image data, performs object detection, and publishes the results to a specified ROS topic.

Launch File yolo_v5_nonvisual.launch

Configures and starts the YOLOv5 and ROS integration node.

- Parameter Description
yolov5_path: Path to the YOLOv5 model.
use_cpu: Whether to use CPU for inference (default is false, using GPU).
weight_path: Path to the YOLOv5 model weight file.
image_topic: Name of the image topic to subscribe to.
pub_topic: Name of the topic to publish detection results to.
camera_frame: Name of the camera coordinate frame.
conf: Detection confidence threshold.

💥YOLOv5-ROS for Navigation

This part extends YOLOv5 object detection to include distance and heading angle calculations for navigation.

Script yolo_v5_visual.py

Builds on object detection by subscribing to lidar data topics, combining camera and lidar calibration parameters, calculating the target object's distance and heading angle, and publishing the results to a specified ROS topic.

Launch File yolo_v5_visual.launch

Configures and starts the YOLOv5 and ROS integration node with navigation capabilities.

- Parameter Description
yolov5_path: Path to the YOLOv5 model.
use_cpu: Whether to use CPU for inference (default is false, using GPU).
camera_matrix: Camera intrinsic matrix for image rectification.
dist_coeffs: Camera distortion coefficients for image rectification.
calibration_result: Calibration results between the camera and lidar, used for distance, heading angle calculation, and reprojection.
weight_path: Path to the YOLOv5 model weight file.
image_topic: Name of the image topic to subscribe to.
pub_topic: Name of the topic to publish detection results to.
camera_frame: Name of the camera coordinate frame.
conf: Detection confidence threshold.

⭐Usage

To run the general object detection node:

roslaunch yolov5_nonvisual yolo_v5_nonvisual.launch

To run the navigation-enhanced object detection node, first start the lidar node to receive data, and then launch the navigation node:

roslaunch yolov5_ros_visual yolo_v5_visual.launch

The result of running the navigation-enhanced object detection node is shown as below:

⭐How to Perform Camera-Lidar Calibration to Obtain calibration_result

Refer to TurtleZhong/camera_lidar_calibration_v2: ROS VERSION: A tool used for calibrating a 2D laser range finder (LRF) and camera for detailed instructions.

License

This project is licensed under the MIT License. See the LICENSE file for details.