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    在使用小鱼的yolov5_ros2功能包时，编译环节出现问题

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    ros2 foxy yolov5 ros2
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    • 小鱼小
      小鱼 技术大佬 @LeeSonFirm
      最后由 编辑

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

      把详细的上下文提供下

      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

      L 3 条回复 最后回复 回复 引用 0
      • L
        LeeSonFirm @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
        • L
          LeeSonFirm @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
          • L
            LeeSonFirm @小鱼
            最后由 编辑

            @小鱼
            TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'

            Failed <<< iocpsupport [2.04s, exited with code 1]
            Aborted <<< matrixlib [2.30s]
            Aborted <<< ma [2.43s]

            Summary: 0 packages finished [14.3s]
            1 package failed: iocpsupport
            2 packages aborted: ma matrixlib
            2 packages had stderr output: iocpsupport ma

            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 @LeeSonFirm
              最后由 编辑

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

              每看出和yolo相关的日志，请提供完整的上下文和操作流程和日志

              小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

              L 2 条回复 最后回复 回复 引用 0
              • L
                LeeSonFirm @小鱼
                最后由 编辑

                @小鱼
                请问下好的安装包在哪个目录里面啊，好像关于yolo的包没下载下来

                小鱼小 1 条回复 最后回复 回复 引用 0
                • L
                  LeeSonFirm @小鱼
                  最后由 编辑

                  @小鱼
                  找不到yolov5的包😧

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

                    @LeeSonFirm 下载到哪个目录是你自己决定的

                    小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    L 3 条回复 最后回复 回复 引用 0
                    • L
                      LeeSonFirm @小鱼
                      最后由 编辑

                      @小鱼
                      当时没设置位置，直接粘贴代码了，现在不知道在哪，还有办法找出来吗😢

                      1 条回复 最后回复 回复 引用 0
                      • L
                        LeeSonFirm @小鱼
                        最后由 编辑

                        @小鱼
                        lizijian@lizijian-virtual-machine:~$ pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple yolov5
                        /usr/bin/pip3:6: 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
                        Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
                        Requirement already satisfied: yolov5 in ./.local/lib/python3.8/site-packages (7.0.13)
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                        Requirement already satisfied: numpy>=1.18.5 in ./.local/lib/python3.8/site-packages (from yolov5) (1.24.4)
                        Requirement already satisfied: opencv-python>=4.1.1 in ./.local/lib/python3.8/site-packages (from yolov5) (4.10.0.84)
                        Requirement already satisfied: Pillow>=7.1.2 in ./.local/lib/python3.8/site-packages (from yolov5) (10.4.0)
                        Requirement already satisfied: psutil in /usr/lib/python3/dist-packages (from yolov5) (5.5.1)
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                        这样算是下好了吗，下好了的话在哪个目录里面呢

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • L
                          LeeSonFirm @小鱼
                          最后由 编辑

                          @小鱼
                          DeprecationWarning: pkg_resources is deprecated as an API.是这个原因没下载下来吗

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

                            @LeeSonFirm 这个是下好了，下好了的目录有提示

                            @LeeSonFirm 在 在使用小鱼的yolov5_ros2功能包时，编译环节出现问题 中说：

                            Requirement already satisfied: yolov5 in ./.local/lib/python3.8/site-packages (7.0.13)

                            不过这只是依赖，并不是功能包

                            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                            L 1 条回复 最后回复 回复 引用 0
                            • L
                              LeeSonFirm @小鱼
                              最后由 编辑

                              @小鱼
                              是的，我找不到yolov5的功能包，请问后续需要怎样操作呢？

                              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 @LeeSonFirm
                                最后由 编辑

                                @LeeSonFirm 根据教程下载功能包就可以了

                                小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                L 2 条回复 最后回复 回复 引用 0
                                • L
                                  LeeSonFirm @小鱼
                                  最后由 编辑

                                  @小鱼
                                  我按照教程用那个pip3 install指令没有下载下来，输入代码之后显示的就是我上面发的

                                  1 条回复 最后回复 回复 引用 0
                                  • L
                                    LeeSonFirm @小鱼
                                    最后由 编辑

                                    @小鱼 是需要我去下载您在GitHub上给的yolov5_ros2的源码吗，然后放到这个依赖所在的目录中进行编译？

                                    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 @LeeSonFirm
                                      最后由 编辑

                                      @LeeSonFirm 你看教程，按着教程走就可以了

                                      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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                                        LeeSonFirm @小鱼
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                                        @小鱼 我已经严格按照教程执行，可是输入pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple yolov5之后，我找不到这个功能包，并且无法进行编译

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                                          LeeSonFirm @小鱼
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                                          @小鱼 不好意思，我是小白，刚接触ros，让您费心了🙏

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                                          • 小鱼小
                                            小鱼 技术大佬 @LeeSonFirm
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                                            @LeeSonFirm 输入这个命令只是安装yolov5的python库而已，当然找不到功能包,按照这个步骤来：

                                            中文文档 | English Document

                                            YOLO_ROS2

                                            基于YOLOV5 的ROS2封装，允许用户使用给定的模型文件和相机参数进行三维空间物体检测和抓取操作。

                                            YOLO_ROS2

                                            1. 安装依赖

                                            首先，确保您已经更新了系统并且安装了必要的依赖。以下是一些安装步骤，其中$ROS_DISTRO 是您的ROS2发行版（例如：foxy、galactic）：

                                            sudo apt update
sudo apt install python3-pip ros-$ROS_DISTRO-vision-msgs
pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple yolov5

                                            2. 下载编译和运行

                                            下载开源库

                                            mkdir -p yolov5_ws/src
cd yolov5_ws/src
git clone https://github.com/fishros/yolov5_ros2.git

                                            编译项目并设置环境变量

                                            cd yolov5_ws
colcon build
source install/setup.bash

                                            现在，您可以运行Yolo_ROS2节点。默认情况下，它将使用CPU来进行检测，使用名为/image的图像话题。您可以根据需要更改这些参数：

                                            ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/image

                                            如果您要使用真实相机，请修改默认的图像话题（image_topic:=/image），然后在另一个终端中运行以下命令来将相机图像转化为ROS话题：

                                            ros2 run image_tools cam2image --ros-args -p width:=640 -p height:=480 -p frequency:=30.0 -p device_id:=-1

                                            您也可以使用其他相机，例如usb_cam。在这种情况下，安装相应的包并运行usb_cam节点：

                                            sudo apt-get install ros-<ros2-distro>-usb-cam # 安装
ros2 run usb_cam usb_cam_node_exe

                                            Yolo_ROS2相机

                                            3. 订阅结果

                                            Yolo_ROS2将检测结果发布到/yolo_result话题中，包括原始像素坐标以及归一化后的相机坐标系下的x和y坐标。您可以使用以下命令查看检测结果：

                                            ros2 topic echo /yolo_result

                                            Yolo_ROS2检测结果

                                            4. 更进一步使用

                                            4.1 参数设置

                                            在运行Yolo_ROS2节点时，您可以使用 -p name:=value 的方式来修改参数值。

                                            4.1.1 图像话题

                                            您可以通过指定以下参数来更改图像话题：

                                            image_topic:=/image

                                            4.1.2 计算设备设置

                                            如果您有CUDA支持的显卡，可以选择以下参数来配置计算设备：

                                            device:=cpu

                                            4.1.3 是否实时显示结果

                                            您可以使用以下参数来控制是否实时显示检测结果。设置为True将实时显示结果，设置为False则不会显示：

                                            show_result:=False

                                            请注意，实时显示中的cv2.imshow可能会卡住。如果只需要验证结果，可以将此参数设置为False。

                                            4.1.4 切换不同Yolov5模型

                                            默认情况下，Yolo_ROS2使用yolov5s模型。您可以通过以下参数来更改模型：

                                            model:=yolov5m

                                            4.1.5 是否发布结果图像

                                            如果您希望Yolo_ROS2发布检测结果的图像，请使用以下参数：

                                            pub_result_img:=True

                                            这将允许您通过/result_img话题查看检测结果的图像。

                                            4.1.5 相机参数文件

                                            功能包默认从 /camera/camera_info 话题获取相机参数，在获取成功前，相机参数文件路径可以通过参数进行设置，参数为：camera_info_file，通过该参数可以设置文件路径，注意需要使用绝对目录：

                                            camera_info_file:=/home/fishros/chapt9/src/yolov5_ros2/config/camera_info.yaml

                                            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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