@1787515053

@1787515053 在 使用小鱼的ROS2 yolov5 功能包时出现错误 中说：

运行
ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/image
日志
dhx@dhx:~/yolov5_ws$ ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/image
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
WARNING ⚠️ Python>=3.10 is required, but Python==3.8.10 is currently installed
[476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0] [0.0, 0.0, 0.0, 0.0, 0.0]
在另一个中断运行
ros2 run image_tools cam2image --ros-args -p width:=640 -p height:=480 -p frequency:=30.0 -p device_id:=-1正常发送
第一个终端就会报错
dhx@dhx:~/yolov5_ws$ ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/image
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
WARNING ⚠️ Python>=3.10 is required, but Python==3.8.10 is currently installed
[476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0] [0.0, 0.0, 0.0, 0.0, 0.0]
/home/dhx/.local/lib/python3.8/site-packages/yolov5/models/common.py:709: FutureWarning: torch.cuda.amp.autocast(args...) is deprecated. Please use torch.amp.autocast('cuda', args...) instead.
with amp.autocast(autocast):
[INFO] [1731588917.369804689] [yolov5_ros2]: image 1/1: 480x640 1 person
Speed: 1.8ms pre-process, 50.7ms inference, 0.6ms NMS per image at shape (1, 3, 480, 640)
Traceback (most recent call last):
File "/home/dhx/yolov5_ws/install/yolov5_ros2/lib/yolov5_ros2/yolo_detect_2d", line 33, in <module>
sys.exit(load_entry_point('yolov5-ros2==0.0.0', 'console_scripts', 'yolo_detect_2d')())
File "/home/dhx/yolov5_ws/install/yolov5_ros2/lib/python3.8/site-packages/yolov5_ros2/yolo_detect_2d.py", line 163, in main
rclpy.spin(YoloV5Ros2())
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/init.py", line 191, in spin
executor.spin_once()
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 719, in spin_once
raise handler.exception()
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/task.py", line 239, in call
self._handler.send(None)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 429, in handler
await call_coroutine(entity, arg)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 354, in _execute_subscription
await await_or_execute(sub.callback, msg)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 118, in await_or_execute
return callback(*args)
File "/home/dhx/yolov5_ws/install/yolov5_ros2/lib/python3.8/site-packages/yolov5_ros2/yolo_detect_2d.py", line 109, in image_callback
detection2d.id = name
AttributeError: 'Detection2D' object has no attribute 'id'
dhx@dhx:~/yolov5_ws$

这个是切换galactic的分支，还是出现同样的报错

@3040233158 我也是这个问题现在解决了吗

关于yolov5_ros2是否支持剪枝后的模型，这通常取决于yolov5_ros2的具体实现和版本。YOLOv5本身是一个先进的实时目标检测模型，而剪枝是一种优化模型大小和提高运行速度的技术。

如果yolov5_ros2是基于原始的YOLOv5代码构建的，并且没有特定的修改来限制它只能使用未剪枝的模型，那么它很可能支持剪枝后的模型。然而，剪枝后的模型可能需要一些特定的加载或处理步骤，以确保它们能在yolov5_ros2中正确运行。

为了获得最准确的答案，建议您查阅yolov5_ros2的官方文档或源代码，了解它是否支持剪枝后的模型，以及如何使用这些模型。此外，您也可以在相关的社区或论坛中提问，那里可能有其他用户或开发者能够提供更具体的帮助。

请注意，由于技术和工具的不断更新，我的回答可能不是最新的。因此，最好直接查看相关的官方文档或资源以获取最新和准确的信息。

以上为生成回答，仅供参考～

@1730462374 在 使用小鱼的ROS2 yolov5 功能包出的错误 中说：

sudo ros2 run usb_cam usb_cam_node_exe

应该是相机硬件驱动相关问题，跟虚拟机有关系，检查下虚拟机配置，或者使用其他软件尝试打开摄像头看看能不能开再测试通过ros2打开相机。

@朝雨浥轻尘 这个不难,你需要写个代码来订阅数据,数据是个数组,你把每个数据遍历一遍,计算每个中心点的欧式距离,选择最小的那个的id记录下来.具体编程操作像这样子:

https://www.runoob.com/cprogramming/c-examples-smallest-array-element.html

#include <stdio.h> int main() { int array[10] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0}; int loop, smallest; smallest = array[0]; for(loop = 1; loop < 10; loop++) { if( smallest > array[loop] ) smallest = array[loop]; } printf("最小元素为 %d", smallest); return 0; }