fix yolo dependencies

igonzf · igonzf · commit 8fa0070ad4ca · 2026-02-22T13:20:51.000+01:00
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -23,7 +23,7 @@ RUN mkdir -p /robocup/src/
 WORKDIR /robocup
 
 ADD https://raw.githubusercontent.com/mgonzs13/llama_ros/refs/heads/main/requirements.txt /robocup/requirements1.txt
-ADD https://raw.githubusercontent.com/jmguerreroh/yolov8_ros/refs/heads/main/requirements.txt /robocup/requirements2.txt
+ADD https://raw.githubusercontent.com/jmguerreroh/yolo_ros/refs/heads/main/requirements.txt /robocup/requirements2.txt
 ADD https://raw.githubusercontent.com/mgonzs13/tts_ros/refs/heads/main/requirements.txt /robocup/requirements3.txt
 
 # Install external dependencies.
diff --git a/bt_nodes/configuration/CMakeLists.txt b/bt_nodes/configuration/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(yolov8_msgs REQUIRED)
+find_package(yolo_msgs REQUIRED)
 
 set(CMAKE_CXX_STANDARD 17)
 
@@ -27,7 +27,7 @@ set(dependencies
   tf2_geometry_msgs
   tf2
   tf2_ros
-  yolov8_msgs
+  yolo_msgs
 )
 
 include_directories(include)
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/package.xml b/bt_nodes/configuration/package.xml
@@ -16,7 +16,7 @@
   <depend>behaviortree_cpp_v3</depend>
   <depend>geometry_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>yolov8_msgs</depend>
+  <depend>yolo_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
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/hri/CMakeLists.txt b/bt_nodes/hri/CMakeLists.txt
@@ -88,9 +88,6 @@ list(APPEND plugin_libs get_attended_guest_bt_node)
 add_library(get_guest_info_bt_node SHARED src/hri/dialog/get_guest_info.cpp)
 list(APPEND plugin_libs get_guest_info_bt_node)
 
-add_library(get_attended_guest_bt_node SHARED src/hri/dialog/get_attended_guest.cpp)
-list(APPEND plugin_libs get_attended_guest_bt_node)
-
 foreach(bt_plugin ${plugin_libs})
 ament_target_dependencies(${bt_plugin} ${dependencies})
 target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
diff --git a/bt_nodes/hri/include/hri/dialog/get_attended_guest.hpp b/bt_nodes/hri/include/hri/dialog/get_attended_guest.hpp
@@ -54,8 +54,4 @@ class GetAttendedGuest : public hri::BtServiceNode<
 
 }  // namespace dialog
 
-<<<<<<< HEAD
 #endif  // HRI__GEST_ATTENDED_GUEST_HPP_
-=======
-#endif  // HRI__GEST_ATTENDED_GUEST_HPP_
->>>>>>> 1f1491be56267206e8ecccbbb4ccc130df93e609
diff --git a/bt_nodes/hri/src/hri/dialog/get_attended_guest.cpp b/bt_nodes/hri/src/hri/dialog/get_attended_guest.cpp
@@ -87,7 +87,3 @@ BT_REGISTER_NODES(factory)
 
   factory.registerBuilder<dialog::GetAttendedGuest>("GetAttendedGuest", builder);
 }
-<<<<<<< HEAD
-=======
-
->>>>>>> 1f1491be56267206e8ecccbbb4ccc130df93e609
diff --git a/bt_nodes/perception/CMakeLists.txt b/bt_nodes/perception/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_cascade_lifecycle REQUIRED)
 find_package(behaviortree_cpp_v3 REQUIRED)
-find_package(yolov8_msgs REQUIRED)
+find_package(yolo_msgs REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(rclpy REQUIRED)
@@ -33,7 +33,7 @@ set(dependencies
   rclcpp_cascade_lifecycle
   rclpy
   behaviortree_cpp_v3
-  yolov8_msgs
+  yolo_msgs
   moveit_msgs
   shape_msgs
   tf2_ros
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/package.xml b/bt_nodes/perception/package.xml
@@ -16,7 +16,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_cascade_lifecycle</depend>
   <depend>behaviortree_cpp_v3</depend>
-  <depend>yolov8_msgs</depend>
+  <depend>yolo_msgs</depend>
   <depend>moveit_msgs</depend>
   <depend>shape_msgs</depend>
   <depend>rclpy</depend>
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/dialog.launch.py b/robocup_bringup/launch/dialog.launch.py
@@ -36,43 +36,48 @@ def generate_launch_description():
 
     # Actions
     llama_cmd = create_llama_launch(
+            n_ctx=2048,
+            n_batch=256,
+            n_gpu_layers=23,
+            n_threads=4,
+            n_predict=-1,
+
+            # uncomment this for GPSR:
+            # model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
+            # model_filename="Spaetzle-v60-7b_Q4_0.gguf",
+
+            # comment this for GPSR:
+            model_repo='qwen/Qwen2.5-Coder-7B-Instruct-GGUF',
+            model_filename='qwen2.5-coder-7b-instruct-q4_k_m-00001-of-00002.gguf',
+            system_prompt_type= "ChatML"
+
+    )
+
+    llava_cmd = create_llama_launch(
+            use_llava=True,
+            n_ctx=2048,
+            n_batch=256,
+            n_gpu_layers=23,
+            n_threads=4,
+            n_predict=-1,
+
+            # uncomment this for GPSR:
+            # model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
+            # model_filename="Spaetzle-v60-7b_Q4_0.gguf",
+
+            # comment this for GPSR:
+            model_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
+            model_filename='Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
+            mmproj_repo= "bartowski/Qwen2-VL-2B-Instruct-GGUF",
+            mmproj_filename= "mmproj-Qwen2-VL-2B-Instruct-f16.gguf",
+            system_prompt_type= "ChatML"
 
-        # uncomment this for GPSR_orginal:
-        # model_repo="cstr/Spaetzle-v60-7b-Q4_0-GGUF",
-        # model_filename="Spaetzle-v60-7b_Q4_0.gguf",
-
-        #uncomment for gpsr raugnak:
-        # n_ctx=8192,
-        # n_batch=512,
-        # n_gpu_layers=29,
-        # n_threads=-1,
-        # n_predict=2000,
-
-        # model_repo="Qwen/Qwen3-8B-GGUF",
-        # model_filename="Qwen3-8B-Q8_0.gguf",
-
-        # comment this for normal:
-        use_llava=True,
-        n_ctx=4096,
-        n_batch=512,
-        n_gpu_layers=23,
-        n_threads=4,
-        n_predict=-1,
-        model_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
-        model_filename='Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
-        mmproj_repo='bartowski/Qwen2-VL-2B-Instruct-GGUF',
-        mmproj_filename='mmproj-Qwen2-VL-2B-Instruct-f16.gguf',
-        system_prompt_type='ChatML'
     )
 
     whisper_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(whisper_dir, 'launch', 'whisper.launch.py')
-        ),
-        launch_arguments={
-            'model_repo': model_repo,
-            'model_filename': model_filename
-        }.items()
+        )
     )
 
     kb_cmd = IncludeLaunchDescription(
@@ -106,12 +111,13 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-    # ld.add_action(declare_model_repo_cmd)
-    # ld.add_action(declare_model_filename_cmd)
+
     ld.add_action(whisper_cmd)
-    ld.add_action(llama_cmd)
+    ld.add_action(llava_cmd)
     ld.add_action(audio_common_tts_node)
     ld.add_action(audio_common_player_node)
-    ld.add_action(music_player_node)
+    ld.add_action(kb_cmd)
+
+    #ld.add_action(music_player_node)
 
     return ld
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_moveit_config')
     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')
     knowledge_core_dir = get_package_share_directory('knowledge_core')
 
@@ -55,7 +55,7 @@ def generate_launch_description():
 
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
+            os.path.join(yolo3d_dir, 'launch', 'yolo.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
@@ -83,7 +83,7 @@ def generate_launch_description():
         launch_arguments={
             'rviz': 'True',
             # 'map': package_dir + '/maps/robocup_arena_1.yaml', # ARENA C
-            'map': package_dir + '/maps/new_lab.yaml', # ARENA B
+            'map': package_dir + '/maps/apartamento_leon_gimp_con_mesa_tv.yaml', # ARENA B
             'params_file': package_dir +
                     '/config/receptionist/tiago_nav_params.yaml',
             'slam_params_file': package_dir +

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
`@@ -87,7 +87,3 @@ BT_REGISTER_NODES(factory)`
`87`	`87`
`88`	`88`	`factory.registerBuilder<dialog::GetAttendedGuest>("GetAttendedGuest", builder);`
`89`	`89`	`}`
`90`		`-<<<<<<< HEAD`
`91`		`-=======`
`92`		`-`
`93`		`->>>>>>> 1f1491be56267206e8ecccbbb4ccc130df93e609`