Darknet YOLO with ROS 1

Build:

1. Make a directory ROS1_WS to act as your ROS 1 workspace.

   $ mkdir -p ~/ROS1_WS/src/

2. Clone this repository:

   $ git clone https://github.com/Tinker-Twins/YOLO-ROS-1.git

3. Install OpenCV (or build from source).

   $ sudo apt update
   $ sudo apt install libopencv-dev python3-opencv

4. Build boost.

   $ cd YOLO-ROS-1/boost
   $ ./bootstrap.sh
   $ ./b2 headers

5. Build the ROS packages (build in Release mode to maximize performance).

   $ cd ~/ROS1_WS
   $ catkin_make -DCMAKE_BUILD_TYPE=Release

6. Source the setup.bash file of your ROS1_WS.

   $ echo "source ~/ROS1_WS/devel/setup.bash" >> ~/.bashrc
   $ source ~/.bashrc

Execute:

$ roslaunch darknet_ros darknet_ros.launch

Configure:

• Names and other parameters of the publishers, subscribers and actions can be modified from darknet_ros/darknet_ros/config/ros.yaml.
• Parameters related to YOLO object detection algorithm can be modified from darknet_ros/darknet_ros/config/yolo.yaml.
• It is recommended to create a copy of the existing configuration file(s) as a template and do necessary modifications.
• Reference the updated configuration file(s) in darknet_ros/darknet_ros/launch/darknet_ros.launch or create new launch file(s).