Forked from official YOLOv7 repo. See here for more information on detection variables.

1. Install NVIDIA GPU drivers and CUDA Toolkit
2. Install requirements.txt

pip3 install -r requirements.txt

3. Build package with catkin_make
4. Launch camera node, output Image message to /camera/image topic.
5. Run detector.py

rosrun yolov7_ros detector.py

6. Stream should start and detections output to /detections topic as Detections message type.

Header header
yolov7_ros/Detection[] dets List of detections

string name Name of object
int8 conf Confidence of detection
int16[4] bbox Position of bounding box top-left and bottom-right [x1,x2, y1,y2].