“uav_camera_det” doesn't work like it should. #31
Description
Hi everyone!!!
I should mention right away that I have Windows 11 and am using the following:
WSL
Ubuntu-22.04
I recently came across your PX4-ROS2-Gazebo-YOLOv8 repository and it seemed very useful, but I ran into a problem with the "uav_camera_det" script hanging, here's a screenshot
To try and figure out what's wrong I added some “print” calls to the code, here's what it looks like:
# Basic ROS 2 program to subscribe to real-time streaming
# video from your built-in webcam
# Author:
# - Addison Sears-Collins
# - https://automaticaddison.com
# Import the necessary libraries
import rclpy # Python library for ROS 2
from rclpy.node import Node # Handles the creation of nodes
from sensor_msgs.msg import Image # Image is the message type
from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images
import cv2 # OpenCV library
from ultralytics import YOLO # YOLO library
# Load the YOLOv8 model
model = YOLO('yolov8m.pt')
class ImageSubscriber(Node):
"""
Create an ImageSubscriber class, which is a subclass of the Node class.
"""
def __init__(self):
"""
Class constructor to set up the node
"""
print("1")
# Initiate the Node class's constructor and give it a name
super().__init__('image_subscriber')
print("2")
# Create the subscriber. This subscriber will receive an Image
# from the video_frames topic. The queue size is 10 messages.
self.subscription = self.create_subscription(
Image,
'camera',
self.listener_callback,
10)
self.subscription # prevent unused variable warning
print("3")
# Used to convert between ROS and OpenCV images
self.br = CvBridge()
print("4")
def listener_callback(self, data):
print("5")
"""
Callback function.
"""
# Display the message on the console
print("6")
self.get_logger().info('Receiving video frame')
print("7")
# Convert ROS Image message to OpenCV image
print("8")
current_frame = self.br.imgmsg_to_cv2(data, desired_encoding="bgr8")
print("9")
image = current_frame
print("10")
# Object Detection
results = model.predict(image, classes=[0, 2])
print("11")
img = results[0].plot()
# Show Results
print("12")
cv2.imshow('Detected Frame', img)
print("13")
cv2.waitKey(1)
def main(args=None):
# Initialize the rclpy library
print("14")
rclpy.init(args=args)
print("15")
# Create the node
image_subscriber = ImageSubscriber()
print("16")
# Spin the node so the callback function is called.
rclpy.spin(image_subscriber)
print("17")
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
image_subscriber.destroy_node()
print("18")
# Shutdown the ROS client library for Python
rclpy.shutdown()
print("19")
if __name__ == '__main__':
main()
I got the following:
14
15
1
2
3
4
16
I followed the manual installation completely, there were no errors when entering the installation commands.
Here are more screenshots:
Micro-XRCE-DDS-Agent:
PX4:
ros2 run ros_gz_image image_bridge /camera:
Controlling the drone with the keyboard works without errors
Thank you in advance!!!