Upgrading ultralytics + adding YOLOv26 launch

Author: mgonzs13

requirements.txt

@@ -1,5 +1,5 @@
 numpy<2
 opencv-python>=4.8.1.78
 typing-extensions>=4.4.0
-ultralytics==8.3.168
+ultralytics==8.4.6
 lap>=0.5.12

yolo_bringup/launch/yolov26.launch.py

@@ -0,0 +1,53 @@
+# Copyright (C) 2024 Miguel Ángel González Santamarta
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    return LaunchDescription(
+        [
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        get_package_share_directory("yolo_bringup"),
+                        "launch",
+                        "yolo.launch.py",
+                    )
+                ),
+                launch_arguments={
+                    "model": LaunchConfiguration("model", default="yolo26m.pt"),
+                    "tracker": LaunchConfiguration("tracker", default="bytetrack.yaml"),
+                    "device": LaunchConfiguration("device", default="cuda:0"),
+                    "enable": LaunchConfiguration("enable", default="True"),
+                    "threshold": LaunchConfiguration("threshold", default="0.5"),
+                    "input_image_topic": LaunchConfiguration(
+                        "input_image_topic", default="/camera/rgb/image_raw"
+                    ),
+                    "image_reliability": LaunchConfiguration(
+                        "image_reliability", default="1"
+                    ),
+                    "namespace": LaunchConfiguration("namespace", default="yolo"),
+                }.items(),
+            )
+        ]
+    )