[FishBotCamera]3.结合YOLO实现检测
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@1004461581 发一下网络结构看看
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@小鱼 感谢已经解决
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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 -
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@小鱼 对的小鱼，应该问题出在了setuptools上，这个需要怎么解决呀？
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@pengzhju 搜搜默认版本和怎么回退，我帮你看下我的
fishros$ pip list| grep setuptools --- setuptools 59.6.0 -
@小鱼 我的是Ubuntu22.04 humble，是按照图片这个步骤来的，可能我哪里出错了。好的小鱼，我先试一下，谢谢呀
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@1004461581 请问一下是怎么解决的
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@小鱼 请问我运行这段命令后就这样不动了是什么原因？
ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
/usr/lib/python3/dist-packages/requests/init.py:87: RequestsDependencyWarning: urllib3 (2.2.3) or chardet (4.0.0) doesn't match a supported version!
warnings.warn("urllib3 ({}) or chardet ({}) doesn't match a supported "
[INFO] [1732460432.020769982] [yolov5_ros2]: Current ROS 2 distribution: humble
[INFO] [1732460432.127483045] [yolov5_ros2]: default_camera_info: [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] -
@2290305520 是不是没有图像数据
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@小鱼 是的，没有图像数据
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@2290305520 没有数据检查下驱动
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此回复已被删除！ -
此回复已被删除！ -
@小鱼 小鱼老师，我检查了驱动，显示的有帧率，也有视频图像，但就是看不到检测结果，请问是怎么回事？
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@ros2_fresh 看看是否有报错的地方，node graph 连接是否正常
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@小鱼 换了个文件夹，重新编译就好了。可能是编译的问题，
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@小鱼 header:
stamp:
sec: 1740455780
nanosec: 215156274
frame_id: camera
detections:- header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
results:- hypothesis:
class_id: chair
score: 0.5549157857894897
pose:
pose:
position:
x: -0.15733063741351616
y: -0.26011998719034674
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance:- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
bbox:
center:
x: 325.5
y: 276.5
theta: 0.0
size_x: 95.0
size_y: 53.0
id: chair
- hypothesis:
这是我运行得到的结果，我希望可以通过话题中‘position’引导机器人运动，可否解释下这个坐标的具体计算方式？
- header:
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lwb@Lwb:~$ cd ~/fishbot_ws/
colcon build
source install/setup.bash
Starting >>> yolov5_ros2
/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:270: UserWarning: Unknown distribution option: 'tests_require'
warnings.warn(msg)
[0.351s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'yolov5_ros2' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
--- stderr: yolov5_ros2
/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:270: UserWarning: Unknown distribution option: 'tests_require'
warnings.warn(msg)
Traceback (most recent call last):
File "/home/lwb/fishbot_ws/src/yolov5_ros2/setup.py", line 7, in <module>
setup(
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/init.py", line 117, in setup
return distutils.core.setup(**attrs)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 186, in setup
return run_commands(dist)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 202, in run_commands
dist.run_commands()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 983, in run_commands
self.run_command(cmd)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 1002, in run_command
cmd_obj.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 312, in run
self.find_sources()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 320, in find_sources
mm.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 548, in run
self.prune_file_list()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/sdist.py", line 162, in prune_file_list
super().prune_file_list()
File "/home/lwb/.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/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 272, in get_fullname
return _distribution_fullname(self.get_name(), self.get_version())
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 290, in _distribution_fullname
canonicalize_version(version, strip_trailing_zero=False),
TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'Failed <<< yolov5_ros2 [0.84s, exited with code 1]
Summary: 0 packages finished [0.96s]
1 package failed: yolov5_ros2
1 package had stderr output: yolov5_ros2
lwb@Lwb:~/fishbot_ws$ ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
Package 'yolov5_ros2' not found
编译时报错，yolov5已安装，前面的步骤没有问题
