yolov10

Author: mgonzs13

requirements.txt

@@ -1,4 +1,4 @@
 opencv-python==4.8.1.78
 typing-extensions>=4.4.0
-ultralytics==8.2.26
+ultralytics==8.2.38
 lap==0.4.0

yolov8_bringup/launch/yolov10.launch.py

@@ -0,0 +1,43 @@
+# Copyright (C) 2023  Miguel Ángel González Santamarta
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory(
+                    "yolov8_bringup"), "launch", "yolov8.launch.py")),
+            launch_arguments={
+                "model": LaunchConfiguration("model", default="yolov10m.pt"),
+                "tracker": LaunchConfiguration("tracker", default="bytetrack.yaml"),
+                "device": LaunchConfiguration("device", default="cuda:0"),
+                "enable": LaunchConfiguration("enable", default="True"),
+                "threshold": LaunchConfiguration("threshold", default="0.5"),
+                "input_image_topic": LaunchConfiguration("input_image_topic", default="/camera/rgb/image_raw"),
+                "image_reliability": LaunchConfiguration("image_reliability", default="2"),
+                "namespace": LaunchConfiguration("namespace", default="yolo"),
+            }.items(),
+        )
+    ])

yolov8_ros/yolov8_ros/yolov8_node.py

@@ -104,7 +104,9 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
         self.get_logger().info(f"Activating {self.get_name()}")
 
         self.yolo = YOLO(self.model)
-        self.yolo.fuse()
+
+        if "v10" not in self.model:
+            self.yolo.fuse()
 
         # subs
         self._sub = self.create_subscription(