This is a ROS node for muli-class object detection using darknet/yolo Deep Neural Network (DNN).
Fully check out this repository with submodule darknet
. Compile the darknet
library with the following commands:
cd darknet;mkdir build;cd build
cmake -DOPENCV=OFF -DCMAKE_INSTALL_PREFIX=<full path to dn_object_detect> ..
make install
Go back to the catkin workspace base directory and compile the ROS node with
catkin_make dn_object_detect
NOTE You need to download the model/weights file separately.
roslaunch dn_object_detect objdetect.launch
The node will publish the following two topics
/dn_object_detect/detected_objects
detected object list.
/dn_object_detect/debug_view
debugging image stream.