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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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    • 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
                              • 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

                          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?

                          1 条回复 最后回复 回复 引用 0
                          • 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

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

                                          mmexport1743428498958.png mmexport1743428500801.png 在执行colcon build的这一步时候出现以下报错该如何处理

                                          小鱼小 2 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 是不是 setup 的版本有问题

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

                                            1 条回复 最后回复 回复 引用 0
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