ROS package for YOLOv6

This repo contains a ROS noetic package for YOLOv6. It wraps the official implementation into a ROS node (so most credit goes to the YOLOv6 creators).

Maybe you are also interested in the ROS package for YOLOv7.

Requirements & Getting Started

Following ROS packages are required:

• vision_msgs
• geometry_msgs

First, clone the repo into your catkin workspace and build the package:

git clone https://github.com/lukazso/yolov6-ros.git ~/catkin_ws/src/
cd ~/catkin_ws
catkin build yolov6-ros

The Python requirements are listed in the requirements.txt. You can simply install them as

pip install -r requirements.txt

Download the YOLOv6 weights from the official repository.

The package has been tested under Ubuntu 20.04 and Python 3.8.10.

Usage

Before you launch the node, adjust the parameters in the launch file. For example, you need to set the path to your YOLOv6 weights and the image topic to which this node should listen to. The launch file also contains a description for each parameter.

roslaunch yolov6-ros yolov6.launch

Each time a new image is received it is then fed into YOLOv6.

Notes

• The detections are published using the vision_msgs/Detection2DArray message type.
• The detections will be published under /yolov6/out_topic.
• If you set the visualize parameter to true, the detections will be drawn into the image, which is then published under /yolov6/out_topic/visualization.

Coming Soon

• Additional weights for automotive datasets