multi-robot-control

Multiple robots and drones control with obstacle avoidance

readme

YOLO object detection

Environment

• ubuntu 18.04
• ros-melodic
• python 2.7
• pytorch 1.4

For the dependence of other libraries, please visit the requirements.txt

Installation

Download the weights file and put it under model directory.

wget http://pjreddie.com/media/files/yolov3.weights

Create environment

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/SummerOf15/multi-robot-control.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Run

rosrun yolo yolo_ros.py

Topics

input images

• /husky/front_cam/camera/image (you can modify it in yolo_ros.py )

output detection results

• /result (you can modify it in yolo_ros.py)