lizhuo1414/yolox_ros

yolox_ros

ROS wrapper for YOLOX for spalling detection.

Installation

This package uses python 3, so you must create a separate catkin workspace that's compatible with python 3 if your ROS version still uses python 2. (Based on this guide How to setup ROS with Python 3)

1. Install these dependencies:

First, let's install some tools we’ll need for the build process

sudo apt-get install python3-pip python3-yaml python-catkin-tools python3-dev python3-numpy python3-catkin-pkg-modules python3-rospkg-modules
sudo pip3 install rospkg catkin_pkg

Now, create new catkin_ws_py3 to avoid any future problems with catkin_make(assuming you are using it) and config catkin to use your python 3(3.6 in my case) when building packages:

mkdir ~/catkin_ws_py3 && cd ~/catkin_ws_py3 && mkdir src
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install

clone official vision_opencv repo:

cd ~/catkin_ws_py3
cd src
git clone -b melodic https://github.com/ros-perception/vision_opencv.git

Build tf2_ros using Python3

wstool init
wstool set -y src/geometry2 --git https://github.com/ros/geometry2 -v 0.6.5
wstool up
rosdep install --from-paths src --ignore-src -y -r

2. recursively clone the YOLOX ROS wrapper repository to your src folder in your new catkin workspace.

cd ~/catkin_ws_py3/src
git clone --recursive https://github.com/zaalsabb/yolox_ros.git

3. Install all the requirement for the YOLOX repository.

cd ~/catkin_ws_py3/src/yolox_ros/src/YOLOX
pip3 install -r requirements.txt

4. Configure and build the catkin workspace using catkin_make.

cd ~/catkin_ws_py3
catkin_make --cmake-args \
            -DCMAKE_BUILD_TYPE=Release \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
            -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install
catkin_make

Note: you need to run the setup file each time you open a new terminal, since yolox_ros cannot be started from a launch file in other catkin workspaces.

cd ~/catkin_ws_py3
source devel/setup.sh

Edit the ~/.bashrc file and add the following lines (replace melodic with kinetic if you are on Ubuntu 16):

source /opt/ros/melodic/setup.bash
source ~/catkin_ws_py3/devel/setup.bash

Usage

Open a new terminal, then enter the following:

source ~/catkin_ws_py3/devel/setup.sh
roslaunch yolox_ros yolox.launch

Topics and Parameters:

Topic	Type	Description
/image	sensor_msgs/Image	Input image.
/bounding_boxes	BoundingBoxes	The set of bounding boxes of objects detected in the image. See darknet_ros_msgs
/debug/image	sensor_msgs/Image	Image with all the detected bounding boxes. Used for debugging.

Parameter	Description
~model	The absolute path to the ONNX model used for detection.