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Yolo With ROS

Setup

  1. Create a ROS workspace to install Ultralytics
    mkdir yolo_ws
    cd yolo_ws
    ros2 pkg create --build-type ament_python yolo_pkg
    source install/setup.bash
    PYTHONUSERBASE=$(ros pkg prefix venv_pkg) pip3 install --user --break-system-packages ultralytics
        
  2. Create a workspace and clone this repository. Before you build it, source the yolo_ws
  3. See https://nu-msr.github.io/ros_notes/ros2/computer_vision.html for more details.

Nodes

The me495_yolo package contains one node called yolo.

  1. It subscribes to the image topic
  2. It outputs the model results on the new_image topic
  3. The model parameter lets you choose whichever Yolo Model you would like, defaulting to yolo11n.pt

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ROS repository for ultralytics YOLO

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