Create package structure for YOLO implementation

auv_vision/auv_detection/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(auv_detection)
+
+find_package(catkin REQUIRED COMPONENTS
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+install(DIRECTORY 
+  launch 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}  
+)

auv_vision/auv_detection/launch/tracker.launch

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="debug" default="false"/>
+  <arg name="yolo_model" default="rbp3s_best.pt"/>
+  <arg name="model_source_path" default="$(find auv_detection)/models/$(arg yolo_model)"/>
+  <arg name="ultralytics_models_dir" default="$(find ultralytics_ros)/models"/>
+  <arg name="input_topic" default="/taluy/cameras/cam_front/image_raw"/>
+  <arg name="result_topic" default="/yolo_result"/>
+  <arg name="result_image_topic" default="/yolo_image"/>
+  <arg name="conf_thres" default="0.25"/>
+  <arg name="iou_thres" default="0.45"/>
+  <arg name="max_det" default="300"/>
+  <arg name="classes" default=""/>
+  <arg name="tracker" default="bytetrack.yaml"/>
+  <arg name="device" default="cpu"/>
+  <arg name="result_conf" default="true"/>
+  <arg name="result_line_width" default="1"/>
+  <arg name="result_font_size" default="1"/>
+  <arg name="result_font" default="Arial.ttf"/>
+  <arg name="result_labels" default="true"/>
+  <arg name="result_boxes" default="true"/>
+  <!-- Create symlink before launching the node -->
+  <param name="/create_model_symlink_cmd" 
+         command="bash -c 'ln -sf $(arg model_source_path) $(arg ultralytics_models_dir)/$(arg yolo_model)'"/>
+  <node name="tracker_node" pkg="ultralytics_ros" type="tracker_node.py" output="screen">
+    <param name="yolo_model" value="$(arg yolo_model)"/>
+    <param name="input_topic" value="$(arg input_topic)"/>
+    <param name="result_topic" value="$(arg result_topic)"/>
+    <param name="result_image_topic" value="$(arg result_image_topic)"/>
+    <param name="conf_thres" value="$(arg conf_thres)"/>
+    <param name="iou_thres" value="$(arg iou_thres)"/>
+    <param name="max_det" value="$(arg max_det)"/>
+    <param name="tracker" value="$(arg tracker)"/>
+    <param name="result_conf" value="$(arg result_conf)"/>
+    <param name="result_line_width" value="$(arg result_line_width)"/>
+    <param name="result_font_size" value="$(arg result_font_size)"/>
+    <param name="result_font" value="$(arg result_font)"/>
+    <param name="result_labels" value="$(arg result_labels)"/>
+    <param name="result_boxes" value="$(arg result_boxes)"/>
+    <rosparam param="classes" subst_value="true">$(arg classes)</rosparam>
+    <rosparam param="device" subst_value="true">$(arg device)</rosparam>
+  </node>
+
+  <node if="$(arg debug)" name="image_view" pkg="image_view" type="image_view" output="screen">
+    <remap from="image" to="$(arg result_image_topic)"/>
+  </node>
+</launch>

auv_vision/auv_detection/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>auv_detection</name>
+  <version>0.1.0</version>
+  <description>The auv_detection package</description>
+
+  <author email="[email protected]">Ozan Hakan Tunca</author>
+  <maintainer email="[email protected]">Ozan Hakan Tunca</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+  </export>
+</package>

auv_vision/auv_vision/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(auv_vision)
+
+find_package(catkin REQUIRED COMPONENTS
+  auv_detection
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+)
+
+include_directories(
+  # include
+  ${catkin_INCLUDE_DIRS}
+)

auv_vision/auv_vision/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>auv_vision</name>
+  <version>0.1.0</version>
+  <description>The auv_vision package</description>
+
+  <maintainer email="[email protected]">Faruk Mimarlar</maintainer>
+  <author email="[email protected]">Faruk Mimarlar</author>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>auv_detection</depend>
+
+  <export>
+  </export>
+</package>