yolov5_ROS

this is and successfull ros package，which can run YOLOv5 in ROS

(只要你有一个能跑yolov5的python环境，那么就可以在ros里面跑yolov5！，和ros版本无关！，和ubuntu系统无关）

1:requirements

①an conda env called yolo,in which you can run yolov5 dependently

②any ROS,any Ubuntu

③basic usb_cam ROS_driver (ros自带）

④yolov5s.pth or else (if you dont't have it,it will automatically donwload to your system)

⑤pip install rospy (安装ros与python的接口，这就是为什么无关的原因）

2:before run

1:copy this package(ros_yolo) to your catkin_ws/src  
2:catkin_make  
3:in final_yolo.py, you need to change the image_topic to your own camera input topic  

3:command to run

1:roscore
2:rosrun usb_cam usb_cam_node                       #启动ros自带的相机功能包 ros自带
3:conda activate yolo                               #进入你的conda环境
4:rosrun ros_yolo final_yolo.py  

4:results

5:修改要识别的类型

用的是final_yolo.py 文件来识别
修改93行：
classes = (0,1,2,3,5,7)

yolo类别对应表