Alpaca-zip · Alpaca-zip · Jan 24, 2024
diff --git a/README.md b/README.md
@@ -1,32 +1,70 @@
-# ultralytics_ros [![ROS-noetic Industrial CI](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml) [![ROS-noetic Docker Build Check](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
-ROS package for real-time object detection and segmentation using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
+# ultralytics_ros
+### Introduction
+ROS/ROS 2 package for real-time object detection and segmentation using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
 
 |  `tracker_node`  |  `tracker_with_cloud_node`  |
 | :------------: | :-----------------------: |
 | <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/7ccefee5-1bf9-48de-97e0-a61000bba822" width="450px"> | <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/674f352f-5171-4fcf-beb5-394aa3dfe320" height="160px"> |
 
-- The `tracker_node` provides real-time object detection and segmentation on incoming ROS image messages using the Ultralytics YOLO model.
+- The `tracker_node` provides real-time object detection on incoming ROS/ROS 2 image messages using the Ultralytics YOLO model.
 - The `tracker_with_cloud_node` provides functionality for 3D object detection by integrating 2D detections, mask image, LiDAR data, and camera information.
 
+### Status
+| ROS distro | Industrial CI | Docker |
+| :--------: | :-----------: | :----: |
+|  ROS Melodic | [![ROS-melodic Industrial CI](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-ci.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-ci.yml) | [![ROS-melodic Docker Build Check](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-docker-build-check.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-docker-build-check.yml)
+|  ROS Noetic | [![ROS-noetic Industrial CI](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml) | [![ROS-noetic Docker Build Check](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
+|  ROS 2 Humble | [![ROS2-humble Industrial CI](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-ci.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-ci.yml) | [![ROS2-humble Docker Build Check](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-docker-build-check.yml/badge.svg)](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-docker-build-check.yml)
+
 ## Setup ⚙
+### ROS Melodic
+```bash
+$ cd ~/{ROS_WORKSPACE}/src
+$ GIT_LFS_SKIP_SMUDGE=1 git clone -b melodic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
+$ rosdep install -r -y -i --from-paths .
+$ pip install pipenv
+$ cd ultralytics_ros
+$ pipenv install
+$ pipenv shell
+$ cd ~/{ROS_WORKSPACE} && catkin build
 ```
-$ cd ~/catkin_ws/src
+### ROS Noetic
+```bash
+$ cd ~/{ROS_WORKSPACE}/src
 $ GIT_LFS_SKIP_SMUDGE=1 git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
+$ rosdep install -r -y -i --from-paths .
 $ python3 -m pip install -r ultralytics_ros/requirements.txt
-$ cd ~/catkin_ws
+$ cd ~/{ROS_WORKSPACE} && catkin build
+```
+### ROS 2 Humble
+```bash
+$ cd ~/{ROS2_WORKSPACE}/src
+$ GIT_LFS_SKIP_SMUDGE=1 git clone -b humble-devel https://github.com/Alpaca-zip/ultralytics_ros.git
 $ rosdep install -r -y -i --from-paths .
-$ catkin build
+$ python3 -m pip install -r ultralytics_ros/requirements.txt
+$ cd ~/{ROS2_WORKSPACE} && $ colcon build
 ```
 **NOTE**: If you want to download KITTI datasets, remove `GIT_LFS_SKIP_SMUDGE=1` from the command line.
+
 ## Run 🚀
+### ROS Melodic & ROS Noetic
 **`tracker_node`**
-```
+```bash
 $ roslaunch ultralytics_ros tracker.launch debug:=true
 ```
 **`tracker_node` & `tracker_with_cloud_node`**
-```
+```bash
 $ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true
 ```
+### ROS 2 Humble
+**`tracker_node`**
+```bash
+$ ros2 launch ultralytics_ros tracker.launch.xml debug:=true
+```
+**`tracker_node` & `tracker_with_cloud_node`**
+```bash
+$ ros2 launch ultralytics_ros tracker_with_cloud.launch.xml debug:=true
+```
 **NOTE**: If the 3D bounding box is not displayed correctly, please consider using a lighter yolo model(`yolov8n.pt`) or increasing the `voxel_leaf_size`.
 
 ## `tracker_node`
@@ -48,16 +86,16 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
 - `tracker`: Tracking algorithms.
 - `device`: Device to run the model on(e.g. cpu or cuda:0).
   ```xml
-  <arg name="device" default="cpu"/> <!-- cpu -->
+  <arg name="device" default="cpu"/>
   ```
   ```xml
-  <arg name="device" default="0"/> <!-- cuda:0 -->
+  <arg name="device" default="cuda:0"/>
   ```
 - `classes`: List of class indices to consider.
   ```xml
-  <arg name="classes" default="[0, 1]"/> <!-- person, bicycle -->
+  <param name="classes" value="0, 1" value-sep=", "/> <!-- person, bicycle -->
   ```
-  See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/datasets/coco128.yaml 
+  See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/cfg/datasets/coco128.yaml 
 - `result_conf`:  Whether to plot the detection confidence score.
 - `result_line_width`: Line width of the bounding boxes.
 - `result_font_size`: Font size of the text.
@@ -66,15 +104,16 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
 - `result_boxes`: Whether to plot the bounding boxes.
 ### Topics
 - Subscribed Topics:
-  - Image data from `input_topic` parameter. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+  - Image data from `input_topic` parameter. ([sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg))
 - Published Topics:
-  - Plotted images to `result_image_topic` parameter. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+  - Plotted images to `result_image_topic` parameter. ([sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg))
   - Detected objects(2D bounding box, mask image) to `result_topic` parameter. (ultralytics_ros/YoloResult)
     ```
     std_msgs/Header header
     vision_msgs/Detection2DArray detections
     sensor_msgs/Image[] masks
     ```
+
 ## `tracker_with_cloud_node`
 ### Params
 - `camera_info_topic`: Topic name for camera info.
@@ -99,16 +138,40 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
   - Detected cloud points to `/detection_cloud` topic. ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
   - Detected objects(3D bounding box) to `yolo_3d_result_topic` parameter. ([vision_msgs/Detection3DArray](http://docs.ros.org/en/lunar/api/vision_msgs/html/msg/Detection3DArray.html))
   - Visualization markers to `/detection_marker` topic. ([visualization_msgs/MarkerArray](https://docs.ros.org/en/api/visualization_msgs/html/msg/MarkerArray.html))
+
 ## Docker with KITTI datasets 🐳
 [![dockeri.co](https://dockerico.blankenship.io/image/alpacazip/ultralytics_ros)](https://hub.docker.com/r/alpacazip/ultralytics_ros)
 
 ### Docker Pull & Run
+**ROS Melodic**
+```bash
+$ docker pull alpacazip/ultralytics_ros:melodic
+$ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:melodic
 ```
+**ROS Noetic**
+```bash
 $ docker pull alpacazip/ultralytics_ros:noetic
 $ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:noetic
 ```
+**ROS 2 Humble**
+```bash
+$ docker pull alpacazip/ultralytics_ros:humble
+$ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:humble
+```
 ### Run tracker_node & tracker_with_cloud_node
+**ROS Melodic**
+```bash
+$ roscd ultralytics_ros && pipenv shell
+$ roslaunch ultralytics_ros kitti_predict_with_cloud.launch
+$ cd ~/catkin_ws/src/ultralytics_ros/rosbag && rosbag play kitti_2011_09_26_drive_0106_synced.bag --clock --loop
 ```
+**ROS Noetic**
+```bash
 $ roslaunch ultralytics_ros kitti_tracker_with_cloud.launch
 $ cd ~/catkin_ws/src/ultralytics_ros/rosbag && rosbag play kitti_2011_09_26_drive_0106_synced.bag --clock --loop
 ```
+**ROS 2 Humble**
+```bash
+$ ros2 launch ultralytics_ros kitti_tracker_with_cloud.launch.xml
+$ cd ~/colcon_ws/src/ultralytics_ros/ros2bag && ros2 bag play kitti_2011_09_26_drive_0106_synced --clock --loop
+```