[fix] merge yolov5 info robot_vision

.gitignore

@@ -0,0 +1 @@
+__pycache__

robot_vision/CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   std_msgs
   geometry_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
@@ -51,11 +52,11 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  BoundingBox.msg
+  BoundingBoxes.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -72,10 +73,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   sensor_msgs#   std_msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##

robot_vision/launch/yolo_v5.launch

@@ -8,15 +8,15 @@
     <param name="io_method" value="mmap"/>
   </node>
 
-  <param name="yolov5_path"       value="$(find yolov5_ros)/yolov5"/>
+  <param name="yolov5_path"       value="$(find robot_vision)/yolov5"/>
   <param name="use_cpu"           value="false" />
 
   <!-- Start yolov5 and ros wrapper -->
-  <node pkg="yolov5_ros" type="yolo_v5.py" name="yolov5_ros" output="screen" >
-    <param name="weight_path"       value="$(find yolov5_ros)/weights/yolov5s.pt"/>
+  <node pkg="robot_vision" type="yolo_v5.py" name="yolov5_ros" output="screen" >
+    <param name="weight_path"       value="$(find robot_vision)/data/weights/yolov5s.pt"/>
     <param name="image_topic"       value="/usb_cam/image_raw" />
     <param name="pub_topic"         value="/yolov5/BoundingBoxes" />
-    <param name="camera_frame"       value="camera_color_frame"/>
+    <param name="camera_frame"       value="camera_frame"/>
     <param name="conf"              value="0.3" />
   </node>
 

robot_vision/scripts/yolo_v5.py

@@ -8,7 +8,7 @@ import numpy as np
 
 from std_msgs.msg import Header
 from sensor_msgs.msg import Image
-from yolov5_ros.msg import BoundingBox, BoundingBoxes
+from robot_vision.msg import BoundingBox, BoundingBoxes
 
 
 class Yolo_Dect:
@@ -19,7 +19,7 @@ class Yolo_Dect:
 
         weight_path = rospy.get_param('~weight_path', '')
         image_topic = rospy.get_param(
-            '~image_topic', '/camera/color/image_raw')
+            '~image_topic', '/usb_cam/image_raw')
         pub_topic = rospy.get_param('~pub_topic', '/yolov5/BoundingBoxes')
         self.camera_frame = rospy.get_param('~camera_frame', '')
         conf = rospy.get_param('~conf', '0.5')