vslam从入门到入土：ROS里运行YOLOv5 with D455

系统：ubuntu18

ROS版本：melodic

设备：Realsense D455

如何搭建yolov5环境：vslam从入门到如土：ubuntu18环境下配置YOLOv5_bingshuiyuyi的博客-CSDN博客

1.创建ROS工作空间

创建工作空间和编译realsense D455

mkdir -p ~/yolov5_ws/src
cd ~/yolov5_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/yolov5_ws 
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

2.下载代码并配置好yolo_ros：

地址:https://github.com/qianmin/yolov5_ROS

cd yolov5_ws/src
git clone https://github.com/qianmin/yolov5_ROS.git
cd ~/yolov5_ws
catkin_make

修改final_yolo.py

在yolov5_ws/src/yolov5_ROS/ros_yolo_scripts

image_topic_1 = "/usb_cam/image_raw"  改成  image_topic_1 = "/camera/color/image_raw"

sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')     改成sys.path.remove('/opt/ros/melodic/lib/python2.7/dist-packages')

3.运行：

#新terminal
roscore

#新terminal
roslaunch realsense2_camera rs_rgbd.launch

#新terminal                    
conda activate yolov5                         
rosrun ros_yolo final_yolo.py