Add YOLOV5 OpenCV C++ node

.gitignore

@@ -49,3 +49,7 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+install/
+log/
+build/

src/object_detection/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.5)
+project(object_detection)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(deepracer_interfaces_pkg REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Create Cpp executable
+add_executable(object_detection_node src/object_detection_node.cpp)
+ament_target_dependencies(object_detection_node
+  rclcpp sensor_msgs std_msgs deepracer_interfaces_pkg cv_bridge OpenCV image_transport
+)
+
+# Install Cpp executables
+install(TARGETS
+  object_detection_node
+  DESTINATION lib/${PROJECT_NAME})
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

src/object_detection/launch/classes.txt

@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorbike
+aeroplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+sofa
+pottedplant
+bed
+diningtable
+toilet
+tvmonitor
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush

src/object_detection/launch/object_detection_launch.py

@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='object_detection',
+            namespace='object_detection',
+            executable='object_detection_node',
+            name='object_detection',
+            parameters=[
+                {'subscriber_topic': '/camera_pkg/display_mjpeg'},
+                {'publisher_topic': '/annotated_image'},
+                # model config for OpenVINO
+                # {'model_path': '/perception_models/yolov5n.onnx'},
+                # {'model_config_path': ''},
+                # # model config for ONNX
+                {'model_path': '/perception_models/yolov5n_openvino_model/yolov5n.bin'},
+                {'model_config_path': '/perception_models/yolov5n_openvino_model/yolov5n.xml'}, # only needed for OpenVINO
+                {'classes_txt_path': '/perception_models/yolov5s_openvino_model/classes.txt'}
+            ]
+        )
+    ])

src/object_detection/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>object_detection</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="j89leung@watonomous.ca">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>ackermann_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>deepracer_interfaces_pkg</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>