feat: update dependencies and enhance launch file to support virtual environment integration

Author: mgonzs13

README.md

@@ -28,15 +28,21 @@ ROS 2 wrap for YOLO models from [Ultralytics](https://github.com/ultralytics/ult
 ## Installation
 
 ```shell
+# Clone this repo
 cd ~/ros2_ws/src
 git clone https://github.com/mgonzs13/yolo_ros.git
+
+# Install uv and python dependencies
+curl -LsSf https://astral.sh/uv/install.sh | sh
+source ~/.bashrc
 cd yolo_ros
 uv sync
+
+# Install rosdep dependencies and build
 cd ~/ros2_ws
 rosdep install --from-paths src --ignore-src -r -y
 colcon build
 source ~/ros2_ws/install/setup.bash
-source ~/ros2_ws/src/yolo_ros/.venv/bin/activate
 ```
 
 ## Docker

pyproject.toml

@@ -5,7 +5,7 @@ description = "ROS 2 wrap for YOLO models from Ultralytics"
 requires-python = ">=3.10"
 dependencies = [
     "numpy<2",
-    "opencv-python>=4.8.1.78",
+    "opencv-python-headless>=4.8.1.78",
     "typing-extensions>=4.4.0",
     "ultralytics==8.4.6",
     "lap>=0.5.12",

yolo_bringup/launch/yolo.launch.py

@@ -14,11 +14,16 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 
+import os
+import glob
+import subprocess
+
 from launch import LaunchDescription, LaunchContext
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 from launch.conditions import IfCondition
+from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
@@ -28,6 +33,14 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d):
         use_tracking = eval(context.perform_substitution(use_tracking))
         use_3d = eval(context.perform_substitution(use_3d))
 
+        share_dir = get_package_share_directory("yolo_ros")
+        subprocess.run(["uv", "sync", "--project", share_dir], check=True)
+        venv_site_pkgs = glob.glob(
+            os.path.join(share_dir, ".venv", "lib", "python*", "site-packages")
+        )
+        existing_pythonpath = os.environ.get("PYTHONPATH", "")
+        new_pythonpath = ":".join(venv_site_pkgs + [existing_pythonpath]).strip(":")
+
         model_type = LaunchConfiguration("model_type")
         model_type_cmd = DeclareLaunchArgument(
             "model_type",
@@ -231,6 +244,7 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d):
             executable="yolo_node",
             name="yolo_node",
             namespace=namespace,
+            additional_env={"PYTHONPATH": new_pythonpath},
             parameters=[
                 {
                     "model_type": model_type,
@@ -259,6 +273,7 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d):
             executable="tracking_node",
             name="tracking_node",
             namespace=namespace,
+            additional_env={"PYTHONPATH": new_pythonpath},
             parameters=[{"tracker": tracker, "image_reliability": image_reliability}],
             remappings=[("image_raw", input_image_topic)],
             condition=IfCondition(PythonExpression([str(use_tracking)])),
@@ -269,6 +284,7 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d):
             executable="detect_3d_node",
             name="detect_3d_node",
             namespace=namespace,
+            additional_env={"PYTHONPATH": new_pythonpath},
             parameters=[
                 {
                     "target_frame": target_frame,
@@ -290,6 +306,7 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d):
             executable="debug_node",
             name="debug_node",
             namespace=namespace,
+            additional_env={"PYTHONPATH": new_pythonpath},
             parameters=[{"image_reliability": image_reliability}],
             remappings=[
                 ("image_raw", input_image_topic),

yolo_ros/setup.py

@@ -9,6 +9,7 @@
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name, ["../pyproject.toml"]),
     ],
     install_requires=["setuptools"],
     zip_safe=True,