version is 0.3.1

Author: Ar-Ray-code

README.md

@@ -124,7 +124,7 @@ Check [this URL](https://github.com/Ar-Ray-code/YOLOX-ROS/tree/main/yolox_ros_cp
 
 <!-- - yolox/image_raw : Resized image (`sensor_msgs/Image`) -->
 
-- yololx/bounding_boxes : Output BoundingBoxes like darknet_ros_msgs (`bboxes_ex_msgs/BoundingBoxes`)
+- bounding_boxes: Output BoundingBoxes like darknet_ros_msgs (`bboxes_ex_msgs/BoundingBoxes`)
 
   ※ If you want to use `darknet_ros_msgs` , replace `bboxes_ex_msgs` with `darknet_ros_msgs`.
 

yolox_ros_py/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_ros_py</name>
-  <version>0.3.0</version>
+  <version>0.3.1</version>
   <description>The yolox_ros_py package</description>
   <maintainer email="[email protected]">Ar-Ray-code</maintainer>
   <license>Apache License, Version 2.0</license>

yolox_ros_py/setup.py

@@ -77,7 +77,7 @@
 
 setup(
     name=package_name,
-    version='0.3.0',
+    version='0.3.1',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',

yolox_ros_py/yolox_ros_py/yolox_onnx.py

@@ -44,9 +44,7 @@ def __init__(self) -> None:
 
         self.bridge = CvBridge()
 
-        self.pub = self.create_publisher(BoundingBoxes,"yolox/bounding_boxes", 10)
-        # self.pub_image = self.create_publisher(Image,"yolox/image_raw", 10)
-
+        self.pub = self.create_publisher(BoundingBoxes,"bounding_boxes", 10)
         self.sub = self.create_subscription(Image,"image_raw",self.imageflow_callback, self.qos_image_sub)
 
     def imageflow_callback(self,msg:Image) -> None:
@@ -99,7 +97,6 @@ def imageflow_callback(self,msg:Image) -> None:
                     cv2.waitKey(1)
 
             self.pub.publish(bboxes)
-            # self.pub_image.publish(self.bridge.cv2_to_imgmsg(origin_img,"bgr8"))
 
         except Exception as e:
             self.get_logger().info(f'Error: {e}')

yolox_ros_py/yolox_ros_py/yolox_openvino.py

@@ -46,16 +46,10 @@ def __init__(self) -> None:
 
         self.bridge = CvBridge()
 
-        self.pub = self.create_publisher(BoundingBoxes,"yolox/bounding_boxes", 10)
-        # self.pub_image = self.create_publisher(Image,"yolox/image_raw", 10)
-        
+        self.pub = self.create_publisher(BoundingBoxes,"bounding_boxes", 10)
         self.sub = self.create_subscription(Image,"image_raw",self.imageflow_callback, self.qos_image_sub)
 
     def setting_yolox_exp(self) -> None:
-        # set environment variables for distributed training
-        
-        
-
         print('Creating Inference Engine')
         ie = IECore()
         print(f'Reading the self.network: {self.model_path}')
@@ -131,7 +125,6 @@ def imageflow_callback(self,msg:Image) -> None:
                     cv2.waitKey(1)
 
             self.pub.publish(bboxes)
-            # self.pub_image.publish(self.bridge.cv2_to_imgmsg(nodetect_image,"bgr8"))
 
         except Exception as e:
             self.get_logger().info(f'Error: {e}')

yolox_ros_py/yolox_ros_py/yolox_ros.py

@@ -124,17 +124,14 @@ def __init__(self) -> None:
 
         self.bridge = CvBridge()
 
-        self.pub = self.create_publisher(BoundingBoxes,"yolox/bounding_boxes", 10)
-        # self.pub_image = self.create_publisher(Image,"yolox/image_raw", 10)
+        self.pub = self.create_publisher(BoundingBoxes,"bounding_boxes", 10)
 
         if (self.sensor_qos_mode):
             self.sub = self.create_subscription(Image,"image_raw",self.imageflow_callback, qos_profile_sensor_data)
         else:
             self.sub = self.create_subscription(Image,"image_raw",self.imageflow_callback, 10)
 
     def setting_yolox_exp(self) -> None:
-        # set environment variables for distributed training
-        # ==============================================================
 
         WEIGHTS_PATH = '../../weights/yolox_nano.pth'
 
@@ -245,9 +242,6 @@ def imageflow_callback(self,msg:Image) -> None:
                 bboxes_msg = self.yolox2bboxes_msgs(bboxes, scores, cls, cls_names, msg.header, img_rgb)
 
                 self.pub.publish(bboxes_msg)
-                # msg = self.bridge.cv2_to_imgmsg(img_rgb,"bgr8")
-                # msg.header.frame_id = "camera"
-                # self.pub_image.publish(msg)
 
                 if (self.imshow_isshow):
                     cv2.imshow("YOLOX",result_img_rgb)

yolox_ros_py/yolox_ros_py/yolox_tflite.py

@@ -54,12 +54,7 @@ def __init__(self):
         )
 
         self.sub = self.create_subscription(Image,"image_raw",self.imageflow_callback, self.qos_image_sub)
-
-        self.pub_detection = self.create_publisher(
-            BoundingBoxes,
-            'bounding_boxes',
-            10
-        )
+        self.pub_detection = self.create_publisher(BoundingBoxes, 'bounding_boxes', 10)
 
     def imageflow_callback(self, msg):
         start = time.time()