README.org

Yolo With ROS

• Basic ROS setup for using https://github.com/ultralytics/ultralytics YOLO models in 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