diff --git a/README.md b/README.md
index 52e79f39..d3b65798 100644
--- a/README.md
+++ b/README.md
@@ -1,32 +1,70 @@
-# ultralytics_ros [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml) [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
-ROS package for real-time object detection and segmentation using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
+# ultralytics_ros
+### Introduction
+ROS/ROS 2 package for real-time object detection and segmentation using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
| `tracker_node` | `tracker_with_cloud_node` |
| :------------: | :-----------------------: |
| 
| 
|
-- The `tracker_node` provides real-time object detection and segmentation on incoming ROS image messages using the Ultralytics YOLO model.
+- The `tracker_node` provides real-time object detection on incoming ROS/ROS 2 image messages using the Ultralytics YOLO model.
- The `tracker_with_cloud_node` provides functionality for 3D object detection by integrating 2D detections, mask image, LiDAR data, and camera information.
+### Status
+| ROS distro | Industrial CI | Docker |
+| :--------: | :-----------: | :----: |
+| ROS Melodic | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-docker-build-check.yml)
+| ROS Noetic | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
+| ROS 2 Humble | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-docker-build-check.yml)
+
## Setup ⚙
+### ROS Melodic
+```bash
+$ cd ~/{ROS_WORKSPACE}/src
+$ GIT_LFS_SKIP_SMUDGE=1 git clone -b melodic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
+$ rosdep install -r -y -i --from-paths .
+$ pip install pipenv
+$ cd ultralytics_ros
+$ pipenv install
+$ pipenv shell
+$ cd ~/{ROS_WORKSPACE} && catkin build
```
-$ cd ~/catkin_ws/src
+### ROS Noetic
+```bash
+$ cd ~/{ROS_WORKSPACE}/src
$ GIT_LFS_SKIP_SMUDGE=1 git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
+$ rosdep install -r -y -i --from-paths .
$ python3 -m pip install -r ultralytics_ros/requirements.txt
-$ cd ~/catkin_ws
+$ cd ~/{ROS_WORKSPACE} && catkin build
+```
+### ROS 2 Humble
+```bash
+$ cd ~/{ROS2_WORKSPACE}/src
+$ GIT_LFS_SKIP_SMUDGE=1 git clone -b humble-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ rosdep install -r -y -i --from-paths .
-$ catkin build
+$ python3 -m pip install -r ultralytics_ros/requirements.txt
+$ cd ~/{ROS2_WORKSPACE} && $ colcon build
```
**NOTE**: If you want to download KITTI datasets, remove `GIT_LFS_SKIP_SMUDGE=1` from the command line.
+
## Run 🚀
+### ROS Melodic & ROS Noetic
**`tracker_node`**
-```
+```bash
$ roslaunch ultralytics_ros tracker.launch debug:=true
```
**`tracker_node` & `tracker_with_cloud_node`**
-```
+```bash
$ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true
```
+### ROS 2 Humble
+**`tracker_node`**
+```bash
+$ ros2 launch ultralytics_ros tracker.launch.xml debug:=true
+```
+**`tracker_node` & `tracker_with_cloud_node`**
+```bash
+$ ros2 launch ultralytics_ros tracker_with_cloud.launch.xml debug:=true
+```
**NOTE**: If the 3D bounding box is not displayed correctly, please consider using a lighter yolo model(`yolov8n.pt`) or increasing the `voxel_leaf_size`.
## `tracker_node`
@@ -48,16 +86,16 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
- `tracker`: Tracking algorithms.
- `device`: Device to run the model on(e.g. cpu or cuda:0).
```xml
-
+
```
```xml
-
+
```
- `classes`: List of class indices to consider.
```xml
-
+
```
- See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/datasets/coco128.yaml
+ See also: https://github.com/ultralytics/ultralytics/blob/main/ultralytics/cfg/datasets/coco128.yaml
- `result_conf`: Whether to plot the detection confidence score.
- `result_line_width`: Line width of the bounding boxes.
- `result_font_size`: Font size of the text.
@@ -66,15 +104,16 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
- `result_boxes`: Whether to plot the bounding boxes.
### Topics
- Subscribed Topics:
- - Image data from `input_topic` parameter. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+ - Image data from `input_topic` parameter. ([sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg))
- Published Topics:
- - Plotted images to `result_image_topic` parameter. ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+ - Plotted images to `result_image_topic` parameter. ([sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg))
- Detected objects(2D bounding box, mask image) to `result_topic` parameter. (ultralytics_ros/YoloResult)
```
std_msgs/Header header
vision_msgs/Detection2DArray detections
sensor_msgs/Image[] masks
```
+
## `tracker_with_cloud_node`
### Params
- `camera_info_topic`: Topic name for camera info.
@@ -99,16 +138,40 @@ For yolov8, you can choose `yolov8*.pt`, `yolov8*-seg.pt`.
- Detected cloud points to `/detection_cloud` topic. ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
- Detected objects(3D bounding box) to `yolo_3d_result_topic` parameter. ([vision_msgs/Detection3DArray](http://docs.ros.org/en/lunar/api/vision_msgs/html/msg/Detection3DArray.html))
- Visualization markers to `/detection_marker` topic. ([visualization_msgs/MarkerArray](https://docs.ros.org/en/api/visualization_msgs/html/msg/MarkerArray.html))
+
## Docker with KITTI datasets 🐳
[](https://hub.docker.com/r/alpacazip/ultralytics_ros)
### Docker Pull & Run
+**ROS Melodic**
+```bash
+$ docker pull alpacazip/ultralytics_ros:melodic
+$ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:melodic
```
+**ROS Noetic**
+```bash
$ docker pull alpacazip/ultralytics_ros:noetic
$ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:noetic
```
+**ROS 2 Humble**
+```bash
+$ docker pull alpacazip/ultralytics_ros:humble
+$ docker run -p 6080:80 --shm-size=512m alpacazip/ultralytics_ros:humble
+```
### Run tracker_node & tracker_with_cloud_node
+**ROS Melodic**
+```bash
+$ roscd ultralytics_ros && pipenv shell
+$ roslaunch ultralytics_ros kitti_predict_with_cloud.launch
+$ cd ~/catkin_ws/src/ultralytics_ros/rosbag && rosbag play kitti_2011_09_26_drive_0106_synced.bag --clock --loop
```
+**ROS Noetic**
+```bash
$ roslaunch ultralytics_ros kitti_tracker_with_cloud.launch
$ cd ~/catkin_ws/src/ultralytics_ros/rosbag && rosbag play kitti_2011_09_26_drive_0106_synced.bag --clock --loop
```
+**ROS 2 Humble**
+```bash
+$ ros2 launch ultralytics_ros kitti_tracker_with_cloud.launch.xml
+$ cd ~/colcon_ws/src/ultralytics_ros/ros2bag && ros2 bag play kitti_2011_09_26_drive_0106_synced --clock --loop
+```