Yolov8-TensorRT-ROS-Jetson

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version:3.0

Dong chen

TODO

• ROS_image_topic input
• segment
• detect

News

• 2023-10-07 v3 can use file and ROS topic input
• 2023-10-07 v2 just for ROS image topic input
• 2023-10-07 put the detect part of YOLOv8-TensorRT into ROS noetic

Hardware and software

• Nvidia Jetson Orin NX
• Ubuntu 20.04 ( Jetpack 5.1.2 )
• ROS noetic

Prepare the environment

Update CMake

The default CMake version in jetson is too low, so you can not install onnxsim by pip.

sudo apt remove cmake

Download the source cmake-3.27.7.tar.gz from https://cmake.org/download/, and unzip it.

# check the environment
./bootstrap

# build
sudo make

# install
sudo make install

# test
cmake --version

Prepare the environment like YOLOv8-TensorRT

1. Install follow CUDA official website.CUDA

   🚀 RECOMMENDED >= 11.4CUDA

2. Install follow TensorRT official website.TensorRT

   🚀 RECOMMENDED >= 8.4TensorRT

3. Install python requirements.

   pip install -r requirements.txt
   

4. Install ultralytics package for ONNX export or TensorRT API building.

   pip install ultralytics
   

5. Prepare your own PyTorch weight such as yolov8s.pt or yolov8s-seg.pt.

How to run

1. Build ONNX

python3 export-det.py --weights yolov8s.pt --sim

2. Build engine

# Using trtexec tools for export engine
/usr/src/tensorrt/bin/trtexec \
--onnx=yolov8s.onnx \
--saveEngine=yolov8s.engine

3. catkin_make

cd ~/catkin_ws
catkin_make

# rosrun yolov8 yolov8 /path/engine /path/data or /path/data/image or /path/data/video
rosrun yolov8 yolov8 /home/orin/Downloads/yolov8_tensorrt_jetson_detect/engine/yolov8n.engine /home/orin/Downloads/yolov8_tensorrt_jetson_detect/data/bus.jpg

# rosrun yolov8 yolov8 /path/engine /ROStopic
rosrun yolov8 yolov8 /home/orin/catkin_ws/src/yolov8/engine/yolov8n.engine /usb_cam/image_raw

input type:

• video
  • mp4
  • avi
  • m4v
  • mpeg
  • mov
  • mkv
• image
  • jpg
  • jpeg
  • png

Tips

In this package, you can not use the OpenCV which is in the ROS, so this part of CMakeLists.txt is very important.

file(GLOB_RECURSE OLD_OPENCV "/usr/lib/aarch64-linux-gnu/libopencv*")
list(REMOVE_ITEM catkin_LIBRARIES ${OLD_OPENCV})