cd catkin_ws/src
git clone http://gitee.com/kay2020/darknet_ros.git
cd ../

　　

catkin_make -DCMAKE_BUILD_TYPE=Release

　　

 安装相机

sudo apt-get install ros-noetic-usb-cam

　　

 

darknet_ros/config/ros.yaml

　　

subscribers:
  camera_reading:
    topic: /usb_cam/image_raw
    queue_size: 1

　　

 

source devel/setup.bash
roslaunch darknet_ros darknet_ros.launch

　　

 修改 darknet_ros.launch

 

arg name="network_param_file"         default="$(find darknet_ros)/config/yolov2-tiny.yaml"/
 
改为
 
arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/

　　

 

roslaunch darknet_ros darknet_ros.launch