/YOLOX-ROS

YOLOX + ROS2 object detection package

Primary LanguageC++Apache License 2.0Apache-2.0

YOLOX-ROS

YOLOX+ROS2 Foxy

yolox_s_result

🔼 Unity + YOLOX-ROS Demo

Supported List

Base ROS2 C++ ROS2 Python
CPU ✅
CUDA ✅
CUDA (FP16) ✅
TensorRT (CUDA) ✅
OpenVINO ✅ ✅

Raspberry Pi4 🍓 + NCS2 + YOLOX-ROS

Good news for studets❗🍓

Check GitHub Wiki to try YOLOX-ROS.

Installation & Demo

Python (PyTorch)

Requirements

Installation

Install the dependent packages based on all tutorials.

STEP 1 : Download from GitHub

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/Ar-Ray-code/yolox_ros.git --recursive

STEP 2 : YOLOX Installation (yolox_rps_py)

bash YOLOX-ROS/yolox_ros_py/install_yolox_py.bash

STEP 3 : Install YOLOX-ROS

source /opt/ros/foxy/setup.bash
sudo apt install ros-foxy-v4l2-camera
colcon build --symlink-install # weights files will be installed automatically.

(Step 3) Using CUDA

If you have NVIDIA Graphics, you can run YOLOX-ROS on GPU.

Additional installing lists

  • NVIDIA Graphics Driver
  • CUDA toolkit (11.0)
  • torch+cuda

Step3 : Demo

Connect your web camera.

source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
ros2 launch yolox_ros_py yolox_s_cpu.launch.py
# ros2 launch yolox_ros_py yolox_s.launch.py # <- GPU

C++

Check this URL.

Topic

Subscribe

  • image_raw (sensor_msgs/Image)

Publish

  • yolox/image_raw : Resized image (sensor_msgs/Image)

  • yololx/bounding_boxes : Output BoundingBoxes like darknet_ros_msgs (bboxes_ex_msgs/BoundingBoxes)

    ※ If you want to use darknet_ros_msgs , replace bboxes_ex_msgs with darknet_ros_msgs.

yolox_topic

Parameters

  • Check launch files.

Composition

  • Supports C++ only.

YOLOX-ROS + Unity

Check this repository (RenderTexture2ROS2Image).

Reference

@article{yolox2021,
  title={YOLOX: Exceeding YOLO Series in 2021},
  author={Ge, Zheng and Liu, Songtao and Wang, Feng and Li, Zeming and Sun, Jian},
  journal={arXiv preprint arXiv:2107.08430},
  year={2021}
}

Contributors

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