[FishBotCamera]3.结合YOLO实现检测

小鱼

@lingzhiying 可以忽略，直接测试看看能不能用。

daleandfire

此回复已被删除！

小鱼

@daleandfire https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

无处在

小鱼，我想用自己训练的模型。将模型放入config文件夹，在程序中修改选取的模型名字，可以运行我自己的模型吗？有哪些要注意的？

小鱼

@2826778595 可以的，没什么要注意的，注意版本即可

无处在

@小鱼自己训练的yolo5模型确实可以。之前测试不知道用的是yolo8模型，发现不行，才有此一问。

无处在

@小鱼大佬您好，我想订阅/yolo_result话题中的分类结果，
c6671f00-1e02-4b10-91e4-3faa3955e4d2-图片.png
例如：header.detections.id中的值person，但是仔细研究发现您是把Detection2D接口信息嵌入到了Detection2DArray的detections[ ]中，我不知道该如何获取嵌入到detections[ ]的id的值，能否给些提示，或者更新一个案例。
我这是属于喂到嘴边不知道怎么下口去吃，尴尬。

无处在

@2826778595 这里有一个递归读取的方式，读取header.detections.id中的值person。
代码如下：
import rclpy
from rclpy.node import Node
from vision_msgs.msg import Detection2DArray

class DetectionSubscriber(Node):
def init(self):
super().init('detection_subscriber')
self.subscription = self.create_subscription(
Detection2DArray, # 消息类型
'yolo_result', # 订阅的话题名称
self.listener_callback, # 回调函数
10 # 队列大小
)
self.subscription # prevent unused variable warning

def listener_callback(self, msg: Detection2DArray):
    self.get_logger().info('Received a Detection2DArray message')
    for detection in msg.detections:
        # 打印出每个检测到的对象的ID
        self.get_logger().info(f"Detected object ID: {detection.id}")

def main(args=None):
rclpy.init(args=args)
detection_subscriber = DetectionSubscriber()
rclpy.spin(detection_subscriber)
# 关闭和清理ROS 2节点
detection_subscriber.destroy_node()
rclpy.shutdown()

if name == 'main':
main()
我个人觉得比较呆，期待有更好的方法。

无处在

@2826778595

import rclpy
from rclpy.node import Node
from vision_msgs.msg import Detection2DArray

class DetectionSubscriber(Node):
    def __init__(self):
        super().__init__('detection_subscriber')
        self.subscription = self.create_subscription(
            Detection2DArray,    # 消息类型
            'yolo_result',       # 订阅的话题名称
            self.listener_callback,  # 回调函数
            10                  # 队列大小
        )
        self.subscription  # prevent unused variable warning

    def listener_callback(self, msg: Detection2DArray):
        self.get_logger().info('Received a Detection2DArray message')
        for detection in msg.detections:
            # 打印出每个检测到的对象的ID
            self.get_logger().info(f"Detected object ID: {detection.id}")

def main(args=None):
    rclpy.init(args=args)
    detection_subscriber = DetectionSubscriber()
    rclpy.spin(detection_subscriber)
    # 关闭和清理ROS 2节点
    detection_subscriber.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

小鱼

@2826778595 既然是数组，遍历读取就好，这个做法没啥问题

无处在

@小鱼好嘞，谢谢。

无处在

新问题：
1、pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple yolov5 我把这行换成yolo8，代码里导入的包也是yolo8，可以运行yolo8的模型吗？
2、同时安装yolo5和8在Linux会产生冲突吗？
担心冲突，所以先问问。

萌新

小鱼，我在这一节里启动yolov5的时候提示警告不匹配版本该怎么解决呀，这个不匹配了在rqt里也看不到图像

班超

@2431039560 我也遇到这个问题请问你是如何解决的呢

萌新

@1004461581 摄像头和小车和电脑在同一个子网下就可以了，改一下IP最后面的那个数字

班超

@2431039560是udpserver_ip吗，改了这个还是不行哎

小鱼

@1004461581 发一下网络结构看看

班超

@小鱼感谢已经解决

小鱼

@1004461581

pengzhju

sudo apt update
sudo apt install python3-pip ros-$ROS_DISTRO-vision-msgs
pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple yolov5
为什么运行上面指令之后，我所有曾经成功编译过的代码现在colcon build 之后都会出错了，以前面FishBotCamera为例，我可以成功运行了，但是按照 “3.结合YOLO实现检测”内容操作之后，再运行前面的FishBotCamera，就会出现colcon build 错误，错误指示如下：
tarting >>> fishbot_camera
/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:261: UserWarning: Unknown distribution option: 'tests_require'
warnings.warn(msg)
--- stderr: fishbot_camera
/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:261: UserWarning: Unknown distribution option: 'tests_require'
warnings.warn(msg)
Traceback (most recent call last):
File "/home/hance/fishbot_ws/src/fishbot_camera/setup.py", line 5, in <module>
setup(
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/init.py", line 117, in setup
return distutils.core.setup(**attrs)
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 183, in setup
return run_commands(dist)
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 199, in run_commands
dist.run_commands()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 954, in run_commands
self.run_command(cmd)
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 973, in run_command
cmd_obj.run()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 312, in run
self.find_sources()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 320, in find_sources
mm.run()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 546, in run
self.prune_file_list()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/command/sdist.py", line 162, in prune_file_list
super().prune_file_list()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_distutils/command/sdist.py", line 380, in prune_file_list
base_dir = self.distribution.get_fullname()
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 267, in get_fullname
return _distribution_fullname(self.get_name(), self.get_version())
File "/home/hance/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 285, in _distribution_fullname
canonicalize_version(version, strip_trailing_zero=False),
TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'

Failed <<< fishbot_camera [4.58s, exited with code 1]

Summary: 0 packages finished [5.19s]
1 package failed: fishbot_camera
1 package had stderr output: fishbot_camera