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YOLOX-ROS

TR setup

before you build

sudo apt install ros-humble-generate-parameter-library

building

colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON

running

ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py

iron

YOLOX + ROS2 Iron demo

yolox_s_result

🔼 Unity + YOLOX-ROS Demo

Supported List

Base ROS2 C++
TensorRT (CUDA) ✅
OpenVINO ✅
ONNX Runtime ✅
TFLite ✅

Installation & Demo (C++)

Check this URL.


Topic

Subscribe

  • image_raw (sensor_msgs/Image)

Publish

  • bounding_boxes (bboxes_ex_msgs/BoundingBoxes or vision_msgs/Detection2DArray)
    • bboxes_ex_msgs/BoundingBoxes: Output BoundingBoxes like darknet_ros_msgs
    • ※ If you want to use darknet_ros_msgs , replace bboxes_ex_msgs with darknet_ros_msgs.

Reference

@article{yolox2021,
  title={YOLOX: Exceeding YOLO Series in 2021},
  author={Ge, Zheng and Liu, Songtao and Wang, Feng and Li, Zeming and Sun, Jian},
  journal={arXiv preprint arXiv:2107.08430},
  year={2021}
}

Contributors