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ROS Guide, updated YOLO version (#18325)

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Francesco Mattioli 2024-12-20 13:32:25 +01:00 • committed by GitHub
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docs/en/guides/ros-quickstart.md
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@ -88,8 +88,8 @@ import rospy
from ultralytics import YOLO from ultralytics import YOLO
detection_model = YOLO("yolov8m.pt") detection_model = YOLO("yolo11m.pt")
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
``` ```
@ -140,8 +140,8 @@ while True:
from ultralytics import YOLO from ultralytics import YOLO
detection_model = YOLO("yolov8m.pt") detection_model = YOLO("yolo11m.pt")
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
@ -200,7 +200,7 @@ from std_msgs.msg import String
from ultralytics import YOLO from ultralytics import YOLO
detection_model = YOLO("yolov8m.pt") detection_model = YOLO("yolo11m.pt")
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
classes_pub = rospy.Publisher("/ultralytics/detection/classes", String, queue_size=5) classes_pub = rospy.Publisher("/ultralytics/detection/classes", String, queue_size=5)
@ -260,7 +260,7 @@ from ultralytics import YOLO
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
classes_pub = rospy.Publisher("/ultralytics/detection/distance", String, queue_size=5) classes_pub = rospy.Publisher("/ultralytics/detection/distance", String, queue_size=5)
``` ```
@ -313,7 +313,7 @@ while True:
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
classes_pub = rospy.Publisher("/ultralytics/detection/distance", String, queue_size=5) classes_pub = rospy.Publisher("/ultralytics/detection/distance", String, queue_size=5)
@ -384,7 +384,7 @@ from ultralytics import YOLO
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
``` ```
Create a function `pointcloud2_to_array`, which transforms a `sensor_msgs/PointCloud2` message into two numpy arrays. The `sensor_msgs/PointCloud2` messages contain `n` points based on the `width` and `height` of the acquired image. For instance, a `480 x 640` image will have `307,200` points. Each point includes three spatial coordinates (`xyz`) and the corresponding color in `RGB` format. These can be considered as two separate channels of information. Create a function `pointcloud2_to_array`, which transforms a `sensor_msgs/PointCloud2` message into two numpy arrays. The `sensor_msgs/PointCloud2` messages contain `n` points based on the `width` and `height` of the acquired image. For instance, a `480 x 640` image will have `307,200` points. Each point includes three spatial coordinates (`xyz`) and the corresponding color in `RGB` format. These can be considered as two separate channels of information.
@ -463,7 +463,7 @@ for index, class_id in enumerate(classes):
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
time.sleep(1) time.sleep(1)
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
def pointcloud2_to_array(pointcloud2: PointCloud2) -> tuple: def pointcloud2_to_array(pointcloud2: PointCloud2) -> tuple:
@ -536,7 +536,7 @@ from sensor_msgs.msg import Image
from ultralytics import YOLO from ultralytics import YOLO
detection_model = YOLO("yolov8m.pt") detection_model = YOLO("yolo11m.pt")
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
det_image_pub = rospy.Publisher("/ultralytics/detection/image", Image, queue_size=5) det_image_pub = rospy.Publisher("/ultralytics/detection/image", Image, queue_size=5)
@ -589,7 +589,7 @@ from sensor_msgs.msg import PointCloud2
from ultralytics import YOLO from ultralytics import YOLO
rospy.init_node("ultralytics") rospy.init_node("ultralytics")
segmentation_model = YOLO("yolov8m-seg.pt") segmentation_model = YOLO("yolo11m-seg.pt")
def pointcloud2_to_array(pointcloud2): def pointcloud2_to_array(pointcloud2):