yolov4-for-darknet_ros

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yolov4-for-darknet_ros

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This is the environment in which YOLO V4 is ported to darknet_ros.

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# YOLO V4 for darknet_ros
Thanks for taking a look at this repository!! <br>
This repository is the environment of YOLO V4 ported to darknet_ros. <br>
If you need the Japanese README file, please go [here](./documents/README_ja.md).

# Installation
This repository assumes that the [Robot Operating System (ROS)](https://www.ros.org/) has already been installed on your environment.
See [ros.org](https://www.ros.org/install/) to know how to install ROS. My environment is [here](#Enviroment).

## Create workspace
First, create the ROS workspace. The `<workspace>` can be named arbitrarily.

```bash
## Create workspace for ROS, Change directory
$ mkdir -p workspace/src && cd workspace/src

## init workspace
$ catkin_init_workspace

## Make
$ cd ../
$ catkin_make
```

## Installation your environment
### Easy Installation
To clone `darknet` and `darknet_ros` as a submodule, you must clone them with `--recursive`. This allows you to clone the two submodules together.

```bash
$ cd src
$ git clone --recursive https://github.com/Tossy0423/yolov4-for-darknet_ros.git
```

## Download weights file
The weights file is very large and needs to be downloaded separately.

Download the weights file to `darknet_ros/darknet_ros/yolo_network_config/weights` to install it.

```bash
$ wget https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights
```

## make pkg
```bash
# Change workspace directory
$ cd workspace

## Make
$ catkin_make

# Write source command in ~/.bashrc
$ echo "source ~/workspace/devel/setup.bash" >> ~/.bashrc
```

# Environment

|         Topics         	|                     Spec                     	|
|:----------------------:	|:--------------------------------------------:	|
|          Model         	|              Dell ALIENWARE m15              	|
|           CPU          	|   Intel® Core™ i7-8750H CPU @ 2.20GHz × 12   	|
|           GPU          	| GeForce RTX 2070 with Max-Q Design/PCIe/SSE2 	|
|           RAM          	|                    15.4 GB                   	|
|           OS           	|           Ubuntu 18.04.3 LTS bionic          	|
|       Midlleware       	|                  ROS Melodic                 	|
|       NVIDIA-SMI       	|                    440.100                   	|
|     Driver Version     	|                    440.100                   	|
|      CUDA Version      	|                     10.2                     	|
| Cuda compilation tools 	|            release 10.1, V10.1.243           	|

# Demo
I will describe how to demonstrate it in an implemented environment. Before you can do the demo, you need to prepare for it.

## Preparation
- Web Camera<br>
  You don't need to have it if it's already installed.
  
  At the Terminal
  
  > $ ls /dev/video*

If you enter and display, you are ready to go.　If you do not see anything, prepare your environment.

- ROS package of `uvc_camera`<br>
    If it has already been installed, there is no need to do it again. To install, execute the following command
  
  ```bash
  $ sudo apt install ros-melodic-uvc-camera
  ```
- Fixing the launch file <br>
  If you use the `uvc_camera` package, you need to change the Topic of the camera image to input to darknet_ros. Open the file `darknet_ros/darknet_ros/config/ros.yaml` and change the file as follows
  
  ```
  ## Before
  topic: /camera/rgb/image_raw

## After
  topic: /image_raw
  ```
## Running
Execute the three commands in another Terminal.

```bash
$ roscore
$ rosrun uvc_camera uvc_camera_node
$ roslaunch darknet_ros yolo_v4.launch
```
<div align=center>
<img src="readmemedia/camera.png" width=90%>
</div>

# How to build this environment??
Here is the documentation to set up this environment.

# Acknowledgment
This repository consists of two large repositories, [AlexeyAB](https://github.com/AlexeyAB)'s [darknet](https://github.com/AlexeyAB/darknet) and [legged robotics](https://github.com/leggedrobotics)'s [darknet_ros](https://github.com/leggedrobotics/darknet_ros).
For building this environment, I have a reference to the information published by many developers.
I would like to thank the developers who made these repositories available to me, and many of them have contributed their information to make this environment possible.

# LISENCE

This software is released under the MIT License, see LICENSE.

# Future Plans
  I will improve it at my whim.
  
  - [x] Rewrite the readme file in English. :earth_americas:
  - [ ] Getting your environment ready to run in the Docker Container. :whale:

# History
  - I've roughly summarized everything from environment building to manual creation(11. Aug. 2020)
  - Create an English version of the README(20. Aug. 2020)
  - Moved `/root/darknet` to `/root/darknet/darknet/darknet_ros` due to redundant file structure.(31. Aug. 2020)

# Autor
Tossy
Japan, Osaka
Please Follow [me](https://twitter.com/gtr35nismo0423)!!

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