Faith-ROS

Table of Contents

• Installation
  • Installation ROS (humble)
• Usage
• Nodes
  • VideoPublisher
  • YOLO Inference
• Build and Run
• License

Installation

Requirements

• ROS2 Humble (Ubuntu 22.04)
• OpenCV (v4.5 or higher)
• Python3.10
• YOLO (installed via ultralytics package)

Installation-humble

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

You will need to add the ROS 2 apt repository to your system

sudo apt install software-properties-common
sudo add-apt-repository universe

Add the ROS2 GPG key

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Add the repository to your sources list

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Then install it

sudo apt update && sudo apt upgrade

sudo apt install ros-humble-desktop

sudo apt install ros-humble-ros-base

sudo apt install ros-dev-tools

Then load the environment setup

source /opt/ros/humble/setup.bash

Installing Dependencies

To install the required ROS2 and OpenCV libraries:

sudo apt update
sudo apt install ros-humble-desktop python3-opencv ros-humble-cv-bridge

To install YOLO for inference

pip install ultralytics

After cloning the repository, navigate to the workspace and build the package using colcon

colcon build

Install setup

source install/setup.bash

Camera node

This node captures video from a camera device and publishes the frames to a ROS2 topic

ros2 run faith_ros camera

Inference node

For now run the inference script with python3:

ros2 run faith_ros inference <model_name>