yolo_inference

Real-time object detection using YOLOv8. This node subscribes to an image topic, runs inference, and publishes both structured detections and an annotated image with bounding boxes.

Run

ros2 launch yolo_inference yolo_inference.launch.py

You can also select the compute device with the device argument:

# Force inference on CPU
ros2 launch yolo_inference yolo_inference.launch.py device:=cpu

# Use GPU 0
ros2 launch yolo_inference yolo_inference.launch.py device:=0

By default, the node runs on GPU.

Topics

Subscribed

• sensor_msgs/Image - Input color image,

Published

• /yolo/detections -> vision_msgs/Detection2DArray
• /yolo/annotated -> sensor_msgs/Image