# yolo_maker_robot

**Repository Path**: zhanghao132/yolo_maker_robot

## Basic Information

- **Project Name**: yolo_maker_robot
- **Description**: 标记yolo识别出的物体
- **Primary Language**: C++
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2022-05-29
- **Last Updated**: 2023-08-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# yolo_maker_robot

#### 介绍
> 可以根据yolo识别到的物体，绘制在全局地图上。

#### 安装教程

1.  环境：ros  ubuntu18.04
2.  安装：yolo_v5作为识别
3.  gazebo 作为仿真环境

### 编译
1.  编译yolo_ros 功能包，该功能包识别物体，发布识别结果的话题
```
cd yolo_maker_robot/YOLO_WS
catkin_make
```

2.  编译ROBOT_WS 功能包，该功能包订阅识别结果的话题，保存到数据库内，然后进行发布标记，可在rviz中查看
```
cd yolo_maker_robot/ROBOT_WS
catkin_make
```

3.  编译RaceCar_SIM_WS 功能包，该功能包进行仿真
```
cd yolo_maker_robot/RaceCar_SIM_WS
catkin_make
```

### 使用说明

1.  打开gazebo环境进行仿真
```
source devel/setup.bash 
roslaunch racecar_gazebo racecar_runway.launch
```
```
source devel/setup.bash 
roslaunch racecar_gazebo racecar_rviz.launch
```

2.  启动yolo功能包进行识别
- 开启服务端
```
conda activate yolo_sort
source devel/setup.bash
roslaunch ros_yolo service_demo.launch
```
- 开启客户端
```
conda activate yolo_sort
source devel/setup.bash
rosrun ros_yolo service_client_msg_pub
```

3.  启动绘制标记功能包
- 开启节点
```
source devel/setup.bash
roslaunch robot_slam_3d robot_slam_3d.launch
```
- 请求服务
`rosservice call /yolo_marker_command "{}"`