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darknet-ROS integration for use in gazebo

Overview

This is a forked repository. This repo was used to perform object detection on the gazebo implementation of SAUVC'20 pool. A custom object detector was trained using YOLOv3 on darknet. Its corresponding weights and cfg file can be found in this repository.

Download this repository

git clone --recursive https://github.com/SubZer0811/darknet_ros
cd ../

Build

Using Catkin Command Line Tools:

catkin build darknet_ros -DCMAKE_BUILD_TYPE=Release

Setup

  • camera_topic: change the topic at darknet_ros/config/ros.yaml (line 4)
  • weight_path and cfg_path: darknet_ros/config/yolov3_auv_sim_gate_obstacle_v1.yaml is the file that contains the paths to cfg and weights file for darknet to use.

Run

roslaunch darknet_ros yolo_v3.launch