A ROS wrapper for yolov5. (master branch is v5.0 of yolov5; for v6.1, see branch v6.1)
I have tested this repo at intel cpu and single Nvidia-GPU. Since it is just a roughly merge of yolov3_pytorch_ros and yolov5, many useless code stays. If you have any questions, feel free to create an issue.
ROS Noetic(Recommanded) or Melodic
Tracking the detection using opencv. (Rviz may be better)
see How_to_build_and_run for more details.