object-detection

Overview

This is a ROS package for detecting object by using camera. It detects only one label of things.

• darknet_ros(YOLO) for real-time detection object by making bounding box
• jsk_pcl estimation coordinate detected object by darknet_ros(YOLO)

They are tested under JetsonTX2, ROS melodic and Ubuntu 18.04, OpenCV 3.4.6, CUDA Version: 10.0

reference : hj_object_detect , open-manipulator-object-tracking-apple (really thanks a lot!)

Installation

If you want to use this package, please follow this procedure.

Dependencies

This package works on the ROS (Robot Operating System).

Please check your linux Version, before downloading ROS

• melodic install (Ubuntu 18.04)

• kinetic install (Ubuntu 16.04)

YOLO depends on the OpenCV (at least 3.4.x)

• Opencv 3.4.6 (on JetsonTX2)

  (my) ROS default python package is python2.7. so I changed shell script a little for installing OpenCV 3.4.6 on python2. Here is shell script that I changed.

  • more details about ROS with Python version please refer this page

• CUDA 10.0

  I passed this state. Because I already installed it setting up JetsonTX2 with Jetpack4.3 before.

  • CUDA Version depends on your GPU. check it!

• If you don't have any package. please follow this procedure.

  $ mkdir -p ~/catkin_ws/src
  $ cd ..
  $ catkin_make	# build, devel, src directory will be made
  $ source ~/catkin_ws/devel/setup.bash	# register workspace
  

• darknet_ros

  $ cd ~/catkin_ws/src
  $ git clone --recursive https://github.com/leggedrobotics/darknet_ros.git
  $ cd ..
  $ catkin_make -DCMAKE_BUILD_TYPE=Release
  $ rospack profile
  

• IntelRealSense

  • download Intel Realsense SDK
  • realsense-ros
  • please check the real sense-ros version because it depends on intel Realsense SDK.

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
  
  after install realsense-ros
  
  $ cd ..
  $ catkin_make
  

• jsk_recognition

  sudo apt-get install ros-melodic-jsk-recognition
  sudo apt-get install ros-melodic-jsk-topic-tools
  
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/jsk-ros-pkg/jsk_common.git
  

• packages

  $ sudo apt-get install ros-melodic-octomap-server
  $ sudo apt-get install ros-melodic-nodelet
  $ sudo apt-get install ros-melodic-depth-image-proc
  $ sudo apt-get install ros-melodic-rtabmap-ros
  $ sudo apt-get install ros-melodic-navigation
  

start!

$ cd object-detection

in config directory
$ cp -r ros.yaml ~/catkin_ws/src/darknet_ros/darknets_ros/config
$ cp -r tomato.yaml ~/catkin_ws/src/darknet_ros/darknet_ros/config
$ cp -r tomato_yolo_jsk.rviz ~/catkin_ws/src/darknet_ros/darknet_ros/config

in launch directory
$ cp -r bringup_d435.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r darknet_ros.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_detect_rviz.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_detection.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_jsk_test.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch

$ cd ~/catkin_ws/src/darknet_ros
$ mkdir script

in script directory
$ cp -r object_collector.py ~/catkin_ws/src/darknet_ros/darknet_ros/script

in src directory
$ cp -r YoloObjectDetector.cpp ~/catkin_ws/src/darknet_ros/darknet_ros/src
$ cp -r yolo_object_detector_node.cpp ~/catkin_ws/src/darknet_ros/darknet_ros/src

in include/darknet_ros
$cp -r image_interface.h
~/catkin_ws/src/darknet_ros/darknet_ros/include/darknet_ros
$cp -r YoloObjectDetector.hpp
~/catkin_ws/src/darknet_ros/darknet_ros/include/darknet_ros

in yolo_network_config/cfg/
$ cp -r tomato.cfg ~/catkin_ws/src/darknet_ros/darknet_ros/cfg

Weight file Download link

$ cp -r tomato_30000.weights ~/catkin_ws/src/darknet_ros/darknet_ros/yolo_network_config/weights

Launch

$ roscore
$ roslaunch darknet_ros object_detect_rviz.launch
$ roslaunch darknet_ros object_jsk_test.launch
$ rosrun darknet_ros object_collector.py	# distance from object

Result