removed yolo_ros

KalanaRatnayake · Jul 22, 2024 · f073d72 · f073d72
1 parent 8c2068f
commit f073d72
Show file tree

Hide file tree

Showing 7 changed files with 4 additions and 91 deletions.
diff --git a/README.md b/README.md
@@ -65,7 +65,6 @@ Clone this repository with and install dependencies.
 
 ```bash
 git clone https://github.com/KalanaRatnayake/boxmot_ros.git
-git clone https://github.com/KalanaRatnayake/yolo_ros.git
 git clone https://github.com/KalanaRatnayake/detection_msgs.git
 pip3 install -r boxmot_ros/requirements.txt
 pip3 install -r yolo_ros/requirements.txt
@@ -82,14 +81,7 @@ colcon build
 ```
 ### Start the system
 
-To use the yolo detection, run launch file in a terminal,
-
-```bash
-source ./install/setup.bash
-ros2 launch yolo_ros yolo.launch.py
-```
-
-To use the boxmot tracking, run the launch file in a seperate terminal, run,
+To use the boxmot tracking, run the launch file in terminal, run,
 
 ```bash
 source ./install/setup.bash
@@ -101,8 +93,6 @@ ros2 launch boxmot_ros boxmot.launch.py
 
 ## Parameter decription
 
-For parameters missing in thefollowing table (`yolo_ros` parameters) check the respective [yolo_ros parameters](https://github.com/KalanaRatnayake/yolo_ros#parameter-decription).
-
 | ROS Parameter           | Docker ENV parameter    | Default Value                 | Description |
 | :---                    | :---                    | :---:                         | :---        |
 | tracking_model          | TRACKING_MODEL          | `deepocsort`                  | Model to be used for tracking. see [1] for default models |

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -36,11 +36,9 @@ RUN apt-get clean
 WORKDIR ${WORKSPACE_ROOT}/src
 
 RUN git clone https://github.com/KalanaRatnayake/boxmot_ros.git
-RUN git clone https://github.com/KalanaRatnayake/yolo_ros.git
 RUN git clone https://github.com/KalanaRatnayake/detection_msgs.git
 
 RUN pip3 install --no-cache-dir -r ${WORKSPACE_ROOT}/src/boxmot_ros/requirements.txt
-RUN pip3 install --no-cache-dir -r ${WORKSPACE_ROOT}/src/yolo_ros/requirements.txt
 
 RUN rosdep install --from-paths ${WORKSPACE_ROOT}/src -y --ignore-src
 
@@ -92,16 +90,7 @@ ENTRYPOINT [ "/workspace_entrypoint.sh" ]
 
 WORKDIR ${WORKSPACE_ROOT}
 
-CMD ros2 launch boxmot_ros docker.launch.py yolo_model:=$YOLO_MODEL \
-                                            input_rgb_topic:=$INPUT_RGB_TOPIC \
-                                            input_depth_topic:=$INPUT_DEPTH_TOPIC \
-                                            subscribe_depth:=$SUBSCRIBE_DEPTH \
-                                            yolo_publish_annotated_image:=$YOLO_PUBLISH_ANNOTATED_IMAGE \
-                                            yolo_annotated_topic:=$YOLO_ANNOTATED_TOPIC \
-                                            yolo_detailed_topic:=$YOLO_DETAILED_TOPIC \
-                                            yolo_threshold:=$YOLO_THRESHOLD \
-                                            yolo_device:=$YOLO_DEVICE \
-                                            tracking_model:=$TRACKING_MODEL \
+CMD ros2 launch boxmot_ros docker.launch.py tracking_model:=$TRACKING_MODEL \
                                             reid_model:=$REID_MODEL \
                                             input_topic:=$INPUT_TOPIC \
                                             boxmot_publish_annotated_image:=$BOXMOT_PUBLISH_ANNOTATED_IMAGE \

diff --git a/docker/Dockerfile.jetson-nano b/docker/Dockerfile.jetson-nano
@@ -77,16 +77,7 @@ ENTRYPOINT [ "/workspace_entrypoint.sh" ]
 
 WORKDIR ${WORKSPACE_ROOT}
 
-CMD ros2 launch boxmot_ros docker.launch.py yolo_model:=$YOLO_MODEL \
-                                            input_rgb_topic:=$INPUT_RGB_TOPIC \
-                                            input_depth_topic:=$INPUT_DEPTH_TOPIC \
-                                            subscribe_depth:=$SUBSCRIBE_DEPTH \
-                                            yolo_publish_annotated_image:=$YOLO_PUBLISH_ANNOTATED_IMAGE \
-                                            yolo_annotated_topic:=$YOLO_ANNOTATED_TOPIC \
-                                            yolo_detailed_topic:=$YOLO_DETAILED_TOPIC \
-                                            yolo_threshold:=$YOLO_THRESHOLD \
-                                            yolo_device:=$YOLO_DEVICE \
-                                            tracking_model:=$TRACKING_MODEL \
+CMD ros2 launch boxmot_ros docker.launch.py tracking_model:=$TRACKING_MODEL \
                                             reid_model:=$REID_MODEL \
                                             input_topic:=$INPUT_TOPIC \
                                             boxmot_publish_annotated_image:=$BOXMOT_PUBLISH_ANNOTATED_IMAGE \

diff --git a/docker/compose.amd64.yaml b/docker/compose.amd64.yaml
@@ -10,16 +10,6 @@ services:
       - BOXMOT_DETAILED_TOPIC=/boxmot_ros/tracking_result
       - BOXMOT_THRESHOLD=0.25
       - BOXMOT_DEVICE='0'
-      - YOLO_MODEL=yolov10x.pt
-      # - YOLO_MODEL=weights/yolov9t.pt            ---> for custom weights
-      - INPUT_RGB_TOPIC=/camera/color/image_raw
-      - INPUT_DEPTH_TOPIC=/camera/depth/points
-      - SUBSCRIBE_DEPTH=True
-      - YOLO_PUBLISH_ANNOTATED_IMAGE=True
-      - YOLO_ANNOTATED_TOPIC=/yolo_ros/annotated_image
-      - YOLO_DETAILED_TOPIC=/yolo_ros/detection_result
-      - YOLO_THRESHOLD=0.25
-      - YOLO_DEVICE='0'
     restart: unless-stopped
     # privileged: true
     network_mode: host

diff --git a/docker/compose.jnano.yaml b/docker/compose.jnano.yaml
@@ -10,16 +10,6 @@ services:
       - BOXMOT_DETAILED_TOPIC=/boxmot_ros/tracking_result
       - BOXMOT_THRESHOLD=0.25
       - BOXMOT_DEVICE='0'
-      - YOLO_MODEL=yolov10x.pt
-      # - YOLO_MODEL=weights/yolov9t.pt            ---> for custom weights
-      - INPUT_RGB_TOPIC=/camera/color/image_raw
-      - INPUT_DEPTH_TOPIC=/camera/depth/points
-      - SUBSCRIBE_DEPTH=True
-      - YOLO_PUBLISH_ANNOTATED_IMAGE=True
-      - YOLO_ANNOTATED_TOPIC=/yolo_ros/annotated_image
-      - YOLO_DETAILED_TOPIC=/yolo_ros/detection_result
-      - YOLO_THRESHOLD=0.25
-      - YOLO_DEVICE='0'
     restart: unless-stopped
     privileged: true
     network_mode: host

diff --git a/launch/docker.launch.py b/launch/docker.launch.py
@@ -10,15 +10,6 @@
 
 
 def generate_launch_description():
-    yolo_yolo_model_param                = DeclareLaunchArgument('yolo_model',                      default_value="yolov9s.pt")
-    yolo_input_rgb_topic_param           = DeclareLaunchArgument('input_rgb_topic',                 default_value="/camera/color/image_raw")
-    yolo_input_depth_topic_param         = DeclareLaunchArgument('input_depth_topic',               default_value="/camera/depth/points")
-    yolo_subscribe_depth_param           = DeclareLaunchArgument('subscribe_depth',                 default_value="True")
-    yolo_publish_annotated_image_param   = DeclareLaunchArgument('yolo_publish_annotated_image',    default_value="True")
-    yolo_annotated_topic_param           = DeclareLaunchArgument('yolo_annotated_topic',            default_value="/yolo_ros/annotated_image")
-    yolo_detailed_topic_param            = DeclareLaunchArgument('yolo_detailed_topic',             default_value="/yolo_ros/detection_result")
-    yolo_threshold_param                 = DeclareLaunchArgument('yolo_threshold',                  default_value="0.25")
-    yolo_device_param                    = DeclareLaunchArgument('yolo_device',                     default_value="'0'")
 
     boxmot_yolo_model_param              = DeclareLaunchArgument('tracking_model',                  default_value="deepocsort")
     boxmot_input_rgb_topic_param         = DeclareLaunchArgument('reid_model',                      default_value="osnet_x0_25_msmt17.pt")
@@ -29,22 +20,6 @@ def generate_launch_description():
     boxmot_threshold_param               = DeclareLaunchArgument('boxmot_threshold',                default_value="0.25")
     boxmot_device_param                  = DeclareLaunchArgument('boxmot_device',                   default_value="'0'")
 
-    yolo_ros_node = launch_ros.actions.Node(package='yolo_ros',
-                                              executable='yolo_ros',
-                                              output='both',
-                                              parameters=[{
-                                                  'yolo_model': LaunchConfiguration('yolo_model'),
-                                                  'input_rgb_topic': LaunchConfiguration('input_rgb_topic'),
-                                                  'input_depth_topic': LaunchConfiguration('input_depth_topic'),
-                                                  'subscribe_depth': LaunchConfiguration('subscribe_depth'),
-                                                  'publish_annotated_image': LaunchConfiguration('yolo_publish_annotated_image'),
-                                                  'annotated_topic': LaunchConfiguration('yolo_annotated_topic'),
-                                                  'detailed_topic': LaunchConfiguration('yolo_detailed_topic'),
-                                                  'threshold': LaunchConfiguration('yolo_threshold'),
-                                                  'device': LaunchConfiguration('yolo_device'),
-                                              }]
-                                              )
-
     boxmot_ros_node = launch_ros.actions.Node(package='boxmot_ros',
                                               executable='boxmot_ros',
                                               output='both',
@@ -62,16 +37,6 @@ def generate_launch_description():
 
     ld = LaunchDescription()
 
-    ld.add_action(yolo_yolo_model_param)
-    ld.add_action(yolo_input_rgb_topic_param)
-    ld.add_action(yolo_input_depth_topic_param)
-    ld.add_action(yolo_subscribe_depth_param)
-    ld.add_action(yolo_publish_annotated_image_param)
-    ld.add_action(yolo_annotated_topic_param)
-    ld.add_action(yolo_detailed_topic_param)
-    ld.add_action(yolo_threshold_param)
-    ld.add_action(yolo_device_param)
-
     ld.add_action(boxmot_yolo_model_param)
     ld.add_action(boxmot_input_rgb_topic_param)
     ld.add_action(boxmot_input_depth_topic_param)
@@ -81,7 +46,6 @@ def generate_launch_description():
     ld.add_action(boxmot_threshold_param)
     ld.add_action(boxmot_device_param)
 
-    ld.add_action(yolo_ros_node)
     ld.add_action(boxmot_ros_node)
 
     return ld
diff --git a/requirements.txt b/requirements.txt
@@ -1,2 +1 @@
-boxmot
-# boxmot @ git+https://github.com/KalanaRatnayake/boxmot.git
+boxmot