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YOLOv8 ROS Integration

This repository contains Python modules and a dependency specification to use Ultralytics YOLOv8 with ROS 2. Additional documentation about how this repository is organized can be found in ARCHITECTURE.md.

Getting Started

Requirements

  • ROS 2 Humble
  • Python 3.10
    • Included with Ubuntu 22.04
    • For other supported Ubuntu LTS distributions, the Deadsnakes Ubuntu PPA provides the required python3.10 python3.10-distutils python3.10-venv packages.
  • The Poetry dependency manager
  • A CUDA 11.8.x runtime environment

Install dependencies to a virtual environment

This repository uses Poetry to install dependencies to a virtual environment. The virtual environment is located at the top level of this repository regardless of the next command used to initialize it.

If you are developing outside of a ROS 2 workspace, run poetry install --no-root within this repository.

This repository is set up to build with colcon using the ament_cmake backend. If this repository is inside a ROS 2 workspace, run colcon build from the top level of the ROS 2 workspace.

(Optional) Run YOLO Checks

After the virtual environment is initialized, you can run YOLO status checks using poetry run yolo check. You should see output similar to below:

$ poetry run yolo check
Ultralytics YOLOv8.0.200 🚀 Python-3.10.13 torch-2.1.0+cu118 CUDA:0 (NVIDIA RTX A2000 12GB, 12017MiB)
Setup complete ✅ (24 CPUs, 31.0 GB RAM, 53.8/198.7 GB disk)

OS                  Linux-6.5.0-1004-oem-x86_64-with-glibc2.31
Environment         Linux
Python              3.10.13
Install             git
RAM                 31.03 GB
CPU                 13th Gen Intel Core(TM) i7-13700
CUDA                11.8

matplotlib          ✅ 3.8.0>=3.3.0
numpy               ✅ 1.26.1>=1.22.2
opencv-python       ✅ 4.8.1.78>=4.6.0
pillow              ✅ 10.1.0>=7.1.2
pyyaml              ✅ 6.0.1>=5.3.1
requests            ✅ 2.31.0>=2.23.0
scipy               ✅ 1.11.3>=1.4.1
torch               ✅ 2.1.0+cu118>=1.8.0
torchvision         ✅ 0.16.0+cu118>=0.9.0
tqdm                ✅ 4.66.1>=4.64.0
pandas              ✅ 2.1.1>=1.1.4
seaborn             ✅ 0.13.0>=0.11.0
psutil              ✅ 5.9.6
py-cpuinfo          ✅ 9.0.0
thop                ✅ 0.1.1-2209072238>=0.1.1

Running ROS Nodes

All ROS nodes are Python modules that must run within the virtual environment. There are multiple ways to run ROS nodes depending on context.

Launch Files

If this repository is inside a ROS 2 workspace, use the following commands at the top level of the workspace.

source install/setup.$(basename $SHELL)

# Replace LAUNCH_FILE_NAME with one of the files in launch/
ros2 launch yolov8_ros LAUNCH_FILE_NAME

Direct Invocation

Running nodes directly with Python may be useful for development and testing. Use the following commands from the top level of this repository.

# Activate the virtual environment
poetry shell

# Run the node as a Python module, e.g.,
python3 -m yolov8_ros.right_wrist_node