change yolo dependencies

igonzf · igonzf · commit 0728235fc55a · 2025-11-28T10:28:55.000+01:00
diff --git a/bt_nodes/bt_test/bt_xml/set_perception_model_test.xml b/bt_nodes/bt_test/bt_xml/set_perception_model_test.xml
@@ -2,7 +2,7 @@
 <root main_tree_to_execute="BehaviorTree">
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
-        <Action ID="SetPerceptionModel" model_name="yolov8m-pose.pt"/>
+        <Action ID="SetPerceptionModel" model_name="yolom-pose.pt"/>
     </BehaviorTree>
     <!-- ////////// -->
     <TreeNodesModel>
diff --git a/bt_nodes/configuration/include/configuration/set_perception_model.hpp b/bt_nodes/configuration/include/configuration/set_perception_model.hpp
@@ -23,14 +23,14 @@
 #include "configuration/bt_service_node.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp"
-#include "yolov8_msgs/srv/change_model.hpp"
+#include "yolo_msgs/srv/change_model.hpp"
 
 
 namespace configuration
 {
 
 class SetPerceptionModel
-  : public configuration::BtServiceNode<yolov8_msgs::srv::ChangeModel,
+  : public configuration::BtServiceNode<yolo_msgs::srv::ChangeModel,
     rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
diff --git a/bt_nodes/configuration/src/configuration/set_perception_model.cpp b/bt_nodes/configuration/src/configuration/set_perception_model.cpp
@@ -26,7 +26,7 @@ using namespace std::placeholders;
 SetPerceptionModel::SetPerceptionModel(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: configuration::BtServiceNode<yolov8_msgs::srv::ChangeModel,
+: configuration::BtServiceNode<yolo_msgs::srv::ChangeModel,
     rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf)
 {
diff --git a/bt_nodes/perception/include/perception/ExtractObjectsFromScene.hpp b/bt_nodes/perception/include/perception/ExtractObjectsFromScene.hpp
@@ -27,7 +27,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp"
 #include "shape_msgs/msg/solid_primitive.hpp"
-#include "yolov8_msgs/msg/detection_array.hpp"
+#include "yolo_msgs/msg/detection_array.hpp"
 #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp"
 
 namespace perception
@@ -51,12 +51,12 @@ class ExtractObjectsFromScene : public BT::ActionNodeBase
         BT::OutputPort<std::string>("objects_count")});
   }
 
-  void detection_callback_(yolov8_msgs::msg::DetectionArray::UniquePtr msg);
+  void detection_callback_(yolo_msgs::msg::DetectionArray::UniquePtr msg);
 
 private:
   std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode> node_;
-  rclcpp::Subscription<yolov8_msgs::msg::DetectionArray>::SharedPtr detected_objs_sub_;
-  yolov8_msgs::msg::DetectionArray::UniquePtr last_detected_objs_ = {nullptr};
+  rclcpp::Subscription<yolo_msgs::msg::DetectionArray>::SharedPtr detected_objs_sub_;
+  yolo_msgs::msg::DetectionArray::UniquePtr last_detected_objs_ = {nullptr};
   std::string interest_class_{""};
 
   std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
diff --git a/bt_nodes/perception/include/perception/switch_yolo_model.hpp b/bt_nodes/perception/include/perception/switch_yolo_model.hpp
@@ -22,15 +22,15 @@
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "moveit_msgs/msg/collision_object.hpp"
 #include "perception/bt_service_node.hpp"
-#include "yolov8_msgs/srv/change_model.hpp"
+#include "yolo_msgs/srv/change_model.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp"
 
 namespace perception
 {
 
 class SwitchYoloModel : public perception::BtServiceNode<
-    yolov8_msgs::srv::ChangeModel,
+    yolo_msgs::srv::ChangeModel,
     rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
diff --git a/bt_nodes/perception/script/detection_test.py b/bt_nodes/perception/script/detection_test.py
@@ -3,7 +3,7 @@
 import rclpy
 from rclpy.node import Node
 from std_msgs.msg import Header
-from yolov8_msgs.msg import BoundingBox2D, Detection, DetectionArray
+from yolo_msgs.msg import BoundingBox2D, Detection, DetectionArray
 
 DEFAULT_NUM_OBJECTS = 5
 
diff --git a/bt_nodes/perception/src/perception/ExtractObjectsFromScene.cpp b/bt_nodes/perception/src/perception/ExtractObjectsFromScene.cpp
@@ -32,7 +32,7 @@ ExtractObjectsFromScene::ExtractObjectsFromScene(
 {
   config().blackboard->get("node", node_);
 
-  detected_objs_sub_ = node_->create_subscription<yolov8_msgs::msg::DetectionArray>(
+  detected_objs_sub_ = node_->create_subscription<yolo_msgs::msg::DetectionArray>(
     "detections_3d", 100, std::bind(&ExtractObjectsFromScene::detection_callback_, this, _1));
   tf_buffer_ = std::make_unique<tf2_ros::Buffer>(node_->get_clock());
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
@@ -43,7 +43,7 @@ void ExtractObjectsFromScene::halt()
   RCLCPP_INFO(node_->get_logger(), "ExtractObjectsFromScene halted");
 }
 
-void ExtractObjectsFromScene::detection_callback_(yolov8_msgs::msg::DetectionArray::UniquePtr msg)
+void ExtractObjectsFromScene::detection_callback_(yolo_msgs::msg::DetectionArray::UniquePtr msg)
 {
   last_detected_objs_ = std::move(msg);
 }
diff --git a/bt_nodes/perception/src/perception/switch_yolo_model.cpp b/bt_nodes/perception/src/perception/switch_yolo_model.cpp
@@ -27,7 +27,7 @@ SwitchYoloModel::SwitchYoloModel(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : perception::BtServiceNode<
-    yolov8_msgs::srv::ChangeModel,
+    yolo_msgs::srv::ChangeModel,
     rclcpp_cascade_lifecycle::CascadeLifecycleNode>(xml_tag_name, action_name, conf)
 {
 }
diff --git a/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py b/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
 
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
     whisper_dir = get_package_share_directory('whisper_bringup')
     package_dir = get_package_share_directory('robocup_bringup')
@@ -82,7 +82,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/launch/gpsr_dependencies.launch.py b/robocup_bringup/launch/gpsr_dependencies.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
 
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
     package_dir = get_package_share_directory('robocup_bringup')
 
@@ -62,7 +62,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/launch/receptionist_dependencies.launch.py b/robocup_bringup/launch/receptionist_dependencies.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
     package_dir = get_package_share_directory('robocup_bringup')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
 
     # manipulation launchers
@@ -54,7 +54,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/launch/restaurant_dependecies.launch.py b/robocup_bringup/launch/restaurant_dependecies.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
     package_dir = get_package_share_directory('robocup_bringup')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
 
     # manipulation launchers
@@ -54,7 +54,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/launch/stickler_dependencies.launch.py b/robocup_bringup/launch/stickler_dependencies.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
 
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
     package_dir = get_package_share_directory('robocup_bringup')
     llama_dir = get_package_share_directory('llama_bringup')
@@ -83,7 +83,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/launch/storing_dependencies.launch.py b/robocup_bringup/launch/storing_dependencies.launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
     move_group_dir = get_package_share_directory('tiago_mtc_examples')
     manipulation_dir = get_package_share_directory('manipulation_action_server')
     package_dir = get_package_share_directory('robocup_bringup')
-    yolo3d_dir = get_package_share_directory('yolov8_bringup')
+    yolo3d_dir = get_package_share_directory('yolo_bringup')
     navigation_dir = get_package_share_directory('navigation_system')
 
     # manipulation launchers
@@ -104,7 +104,7 @@ def generate_launch_description():
     yolo_model = package_dir + "/config/storing_groceries/yolo_groceries.pt"
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
diff --git a/robocup_bringup/thirdparty.repos b/robocup_bringup/thirdparty.repos
@@ -27,9 +27,9 @@ repositories:
     type: git
     url: https://github.com/juandpenan/tiago_mtc_examples.git
     version: main
-  ThirdParty/yolov8_ros:
+  ThirdParty/yolo_ros:
     type: git
-    url: https://github.com/jmguerreroh/yolov8_ros.git
+    url: https://github.com/igonzf/yolo_ros.git
     version: robocup24
   ThirdParty/rclcpp_cascade_lifecycle:
     type: git

Original file line number	Diff line number	Diff line change
`@@ -23,14 +23,14 @@`
`23`	`23`	`#include "configuration/bt_service_node.hpp"`
`24`	`24`	`#include "rclcpp/rclcpp.hpp"`
`25`	`25`	`#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp"`
`26`		`-#include "yolov8_msgs/srv/change_model.hpp"`
	`26`	`+#include "yolo_msgs/srv/change_model.hpp"`
`27`	`27`
`28`	`28`
`29`	`29`	`namespace configuration`
`30`	`30`	`{`
`31`	`31`
`32`	`32`	`class SetPerceptionModel`
`33`		`- : public configuration::BtServiceNode<yolov8_msgs::srv::ChangeModel,`
	`33`	`+ : public configuration::BtServiceNode<yolo_msgs::srv::ChangeModel,`
`34`	`34`	`rclcpp_cascade_lifecycle::CascadeLifecycleNode>`
`35`	`35`	`{`
`36`	`36`	`public:`
Original file line number	Diff line number	Diff line change
`@@ -26,7 +26,7 @@ using namespace std::placeholders;`
`26`	`26`	`SetPerceptionModel::SetPerceptionModel(`
`27`	`27`	`const std::string & xml_tag_name, const std::string & action_name,`
`28`	`28`	`const BT::NodeConfiguration & conf)`
`29`		`-: configuration::BtServiceNode<yolov8_msgs::srv::ChangeModel,`
	`29`	`+: configuration::BtServiceNode<yolo_msgs::srv::ChangeModel,`
`30`	`30`	`rclcpp_cascade_lifecycle::CascadeLifecycleNode>(`
`31`	`31`	`xml_tag_name, action_name, conf)`
`32`	`32`	`{`
Original file line number	Diff line number	Diff line change
`@@ -32,7 +32,7 @@ ExtractObjectsFromScene::ExtractObjectsFromScene(`
`32`	`32`	`{`
`33`	`33`	`config().blackboard->get("node", node_);`
`34`	`34`
`35`		`- detected_objs_sub_ = node_->create_subscription<yolov8_msgs::msg::DetectionArray>(`
	`35`	`+ detected_objs_sub_ = node_->create_subscription<yolo_msgs::msg::DetectionArray>(`
`36`	`36`	`"detections_3d", 100, std::bind(&ExtractObjectsFromScene::detection_callback_, this, _1));`
`37`	`37`	`tf_buffer_ = std::make_unique<tf2_ros::Buffer>(node_->get_clock());`
`38`	`38`	`tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);`
`@@ -43,7 +43,7 @@ void ExtractObjectsFromScene::halt()`
`43`	`43`	`RCLCPP_INFO(node_->get_logger(), "ExtractObjectsFromScene halted");`
`44`	`44`	`}`
`45`	`45`
`46`		`-void ExtractObjectsFromScene::detection_callback_(yolov8_msgs::msg::DetectionArray::UniquePtr msg)`
	`46`	`+void ExtractObjectsFromScene::detection_callback_(yolo_msgs::msg::DetectionArray::UniquePtr msg)`
`47`	`47`	`{`
`48`	`48`	`last_detected_objs_ = std::move(msg);`
`49`	`49`	`}`
Original file line number	Diff line number	Diff line change
`@@ -27,7 +27,7 @@ SwitchYoloModel::SwitchYoloModel(`
`27`	`27`	`const std::string & xml_tag_name, const std::string & action_name,`
`28`	`28`	`const BT::NodeConfiguration & conf)`
`29`	`29`	`: perception::BtServiceNode<`
`30`		`- yolov8_msgs::srv::ChangeModel,`
	`30`	`+ yolo_msgs::srv::ChangeModel,`
`31`	`31`	`rclcpp_cascade_lifecycle::CascadeLifecycleNode>(xml_tag_name, action_name, conf)`
`32`	`32`	`{`
`33`	`33`	`}`