一起学ROS+AI 开篇 ros部署yolov8

博主是新手小白，所以该专栏名为"一起学ROS+AI"，本篇为此专栏第一篇，欢迎一起学习交流。

环境 ubuntu20.04+ros2 foxy

假设环境已经搭建好，以后再补上环境安装篇。

yolov8在ros2上github地址：

GitHub - mgonzs13/yolov8_ros: Ultralytics YOLOv8 for ROS 2

为了方便使用，fork到gitee，也可也使用下面这个链接：

https://gitee.com/chenjianbin0822/yolov8_ros

步骤：

source /opt/ros/foxy/setup.sh
按照仓库Installation进行安装：

复制代码

$ cd ~/ros2_ws/src
$ git clone https://github.com/mgonzs13/yolov8_ros.git
$ pip3 install -r yolov8_ros/requirements.txt
$ cd ~/ros2_ws
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build

博主之前已经测试过，从以下开始

2.1. rosdep install --from-paths src --ignore-src -r -y

显示：#All required rosdeps installed successfully

2.2 colcon build

显示：

Starting >>> yolov8_ros

Starting >>> yolov8_msgs

Finished <<< yolov8_ros [1.98s]

Starting >>> yolov8_bringup

Finished <<< yolov8_bringup [5.05s]

Finished <<< yolov8_msgs [35.2s]

Summary: 3 packages finished [36.9s]

执行：. install/setup.sh，注意，有个"."符号
启动人体关键点算法：

ros2 launch yolov8_bringup yolov8.launch.py model:=yolov8m-pose.pt

显示：

[INFO] [launch]: All log files can be found below YOURPATH/.ros/log/2023-12-16-11-19-34-170991-ubuntu2004-rdk-34339

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [yolov8_node-1]: process started with pid [34341]

[INFO] [tracking_node-2]: process started with pid [34343]

[INFO] [debug_node-3]: process started with pid [34345]

成功加载起来，怎么测试，请听下回分解