Integrates YOLOv2 with ROS, generating messages with position and confidence of detection.

• ROS (tested on Jade and Kinetic)

• GPU supporting CUDA

This repository should be cloned to the src directory of your workspace. Alternatively, the following .rosinstall entry adds this repository for usage with wstool:

- git:
    local-name: yolo2
    uri: https://github.com/ThundeRatz/ros_yolo2.git

Copy your network config to data/yolo.cfg and network weights as data/yolo.weights.

For every image received, an ImageDetections message is generated at the yolo2_detections topic, containing a Header and a vector of Detection. The header time stamp is copied from the received image message; this way, a set of detections can be matched to a specific image. Each Detection contains the following attributes:

• uint32 class_id - Class number configured during training;
• float32 confidence - Confidence;
• float32 x - X position of the object's center relative to the image (between 0 = left and 1 = right);
• float32 y - Y position of the object's center relative to the image (between 0 = top and 1 = bottom);
• float32 width - Width of the object relative to the image (between 0 and 1);
• float32 height - Height of the object relative to the image (between 0 and 1).

Written by the ThundeRatz robotics team.