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    [FishBotCamera]3.结合YOLO实现检测

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    FishBot二驱机器人
    fishbotcamera yolo 检测
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    • 小鱼小
      小鱼 技术大佬 @pengzhju
      最后由 编辑

      @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
      

      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

      1 1 条回复 最后回复 回复 引用 0
      • P
        pengzhju @小鱼
        最后由 编辑

        @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
        2fa7c120-3e1e-47d4-be2d-730669c40d35-{BB963533-8B6C-4D35-B35A-029FA1776B98}.png

        1 条回复 最后回复 回复 引用 0
        • 2
          2290305520 @1004461581
          最后由 编辑

          @1004461581 请问一下是怎么解决的

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          • 2
            2290305520
            最后由 编辑

            @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]

            小鱼小 1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @2290305520
              最后由 编辑

              @2290305520 是不是没有图像数据

              新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

              2 1 条回复 最后回复 回复 引用 0
              • 2
                2290305520 @小鱼
                最后由 编辑

                @小鱼 是的,没有图像数据

                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @2290305520
                  最后由 编辑

                  @2290305520 没有数据检查下驱动

                  新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                  R 1 条回复 最后回复 回复 引用 0
                  • 1
                    154253494 @小鱼
                    最后由 编辑

                    此回复已被删除!
                    1 条回复 最后回复 回复 引用 0
                    • 1
                      154253494 @pengzhju
                      最后由 编辑

                      此回复已被删除!
                      1 条回复 最后回复 回复 引用 0
                      • R
                        ros2_fresh @小鱼
                        最后由 编辑

                        @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?

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @ros2_fresh
                          最后由 编辑

                          @ros2_fresh 看看是否有报错的地方,node graph 连接是否正常

                          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                          R 1 条回复 最后回复 回复 引用 0
                          • R
                            ros2_fresh @小鱼
                            最后由 编辑

                            @小鱼 换了个文件夹,重新编译就好了。可能是编译的问题,

                            1 条回复 最后回复 回复 引用 0
                            • 2
                              2280322272 @小鱼
                              最后由 编辑

                              @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
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                                  • 0.0
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                                  • 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

                              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?

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                              • 2
                                2075605318 年度VIP
                                最后由 编辑

                                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

                                1 条回复 最后回复 回复 引用 1
                                • 2
                                  2075605318 年度VIP
                                  最后由 编辑

                                  @小鱼 在 [FishBotCamera]3.结合YOLO实现检测 中说:

                                  pub_result_img:=True

                                  这个代码默认是物体检测,我想用这个yolo5来实现色块识别并控制fishbot跟踪要怎样实现

                                  1 条回复 最后回复 回复 引用 0
                                  • 2
                                    2652794104
                                    最后由 编辑

                                    mmexport1742526264787.png mmexport1742526267321.png 大佬,执行以上步骤的时候出现下图问题怎么办?

                                    小鱼小 1 条回复 最后回复 回复 引用 0
                                    • 小鱼小
                                      小鱼 技术大佬 @2652794104
                                      最后由 编辑

                                      @2652794104 把右边终端的所有日志复制粘贴出来看看

                                      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                      2 1 条回复 最后回复 回复 引用 0
                                      • 2
                                        2652794104 @小鱼
                                        最后由 编辑

                                        @小鱼 mmexport1742557560588.png mmexport1742557572037.png mmexport1742557564295.png mmexport1742557570033.png mmexport1742557567641.png

                                        小鱼小 1 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @2652794104
                                          最后由 编辑

                                          @2652794104 感觉你电脑yolo没安装好

                                          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                          2 1 条回复 最后回复 回复 引用 0
                                          • 2
                                            2652794104 @小鱼
                                            最后由 编辑

                                            @小鱼 但卸载后重新安装了还是不行,我在Ubuntu终端的情况如下VirtualBox:~/fishbot_ws/src$ cd ~/fishbot_ws/ colcon build source install/setup.bash Starting >>> fishbot_camera Starting >>> yolov5_ros2 /home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require' warnings.warn(msg) /home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require' warnings.warn(msg) [0.584s] 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/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require' warnings.warn(msg) Traceback (most recent call last): File "/home/huan/fishbot_ws/src/yolov5_ros2/setup.py", line 7, in <module> setup( File "/home/huan/.local/lib/python3.10/site-packages/setuptools/init.py", line 117, in setup return distutils.core.setup(**attrs) File "/home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 186, in setup return run_commands(dist) File "/home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 202, in run_commands dist.run_commands() File "/home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 1002, in run_commands self.run_command(cmd) File "/home/huan/.local/lib/python3.10/site-packages/setuptools/dist.py", line 1104, in run_command super().run_command(command) File "/home/huan/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 1021, in run_command cmd_obj.run() File "/home/huan/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 312, in run self.find_sources() File "/home/huan/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 320, in find_sources mm.run

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