yolov5 gazebo
时间: 2023-09-15 20:22:05 浏览: 232
YOLOv5在Gazebo仿真环境中的目标检测可以通过yolov5_ros功能包实现。首先,你需要下载YOLOv5的权重文件(yolov5s.pt, yolov5m.pt, yolov5l.pt, yolov5x.pt)并放置在weights文件夹下。然后,创建一个launch文件(例如yolo_v5.launch),在其中配置YOLOv5和ROS相关的参数。
以下是一个简单的yolo_v5.launch文件示例:
```xml
<launch>
<!-- Load Parameter -->
<param name="yolov5_path" value="$(find yolov5_ros)/yolov5" />
<param name="use_cpu" value="true" />
<!-- Start yolov5 and ros wrapper -->
<node pkg="yolov5_ros" type="yolo_v5.py" name="yolov5_ros" output="screen">
<param name="weight_path" value="$(find yolov5_ros)/weights/polygon.pt" />
<param name="image_topic" value="/camera/color/image_raw" />
<param name="pub_topic" value="/yolov5/BoundingBoxes" />
<param name="camera_frame" value="camera_color_optical_frame" />
<param name="conf" value="0.3" />
</node>
</launch>
```
将上述内容保存为yolo_v5.launch文件,然后在终端中运行以下命令启动仿真环境:
```bash
gazebo --world-id=[your_world_id] --plugin=[your_plugin_name] --verbose yolo_v5.launch
```
注意:请将[your_world_id]替换为你的Gazebo世界ID,将[your_plugin_name]替换为你要使用的插件名称。<span class="em">1</span><span class="em">2</span><span class="em">3</span><span class="em">4</span>
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