Darknet ROS version 2

This version of darknet provides an ROS interface for running the YOLO detection as an ROS node. The default config uses the pascal VOC detection weights but this interface can be used with any custom weights.

To use (with docker):

Avoid incompatibility issues with this dockerfile that will work out of the box. Docker image includes ubuntu 16.04, ROS kinetic, CUDA 8 and cudnn 6. Docker image will install darknet_ros and the usb_cam package.

Install docker here: https://docs.docker.com/engine/installation/linux/docker-ce/ubuntu/

Install nvidia-docker here: https://github.com/NVIDIA/nvidia-docker

Build docker image:

docker build -t darknet_ros:latest .

Run docker container and allow docker access to webcam:

xhost +

nvidia-docker run -it --privileged --network=host -v /tmp/.X11-unix:/tmp/.X11-unix --volume="$HOME/.Xauthority:/root/.Xauthority:rw" -e DISPLAY <image>

Build darknet_ros node:

catkin_make

source devel/setup.bash

To use (without docker):

git clone --recursive https://github.com/pgigioli/darknet_ros.git

In yolo_ros.cpp, modify lines:

char *cfg = "/home/catkin_ws/src/darknet_ros/cfg/yolo-voc.cfg";
char *weights = "/home/catkin_ws/src/darknet_ros/weights/yolo-voc.weights";

with the correct path to your yolo-voc.weights and yolo-voc.cfg.

If using a custom trained model, also modify lines:

const std::string class_labels[] = { "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat",
		     	                             "chair", "cow", "dining table", "dog", "horse", "motorbike", "person",
		                                   "potted plant", "sheep", "sofa", "train", "tv monitor" };

to your custom classes.

If not using the usb_cam package, also modify the lines:

const std::string CAMERA_TOPIC_NAME = "/usb_cam/image_raw";
const std::string CAMERA_WIDTH_PARAM = "/usb_cam/image_width";
const std::string CAMERA_HEIGHT_PARAM = "/usb_cam/image_height";

to your camera topic name. Compile normally with catkin_make and run with

rosrun darknet_ros yolo_ros

Launchfile:

Make sure the usb_cam package is installed and use the yolo_ros.launch with:

roslaunch darknet_ros yolo_ros.launch

Topics:

/found_object - displays "1" or "0" corresponding to whether or not an object has been detected

/YOLO_bboxes - displays the class label that was detected followed by the confidence score and the bbox coordinates: [Class, prob, xmin, ymin, xmax, ymax].

Launch darknet_ros with usb_cam:

roslaunch darknet_ros yolo_ros.launch