YOLO v4 + ROS2 Humble (Foxy) + CUDA11 + cuDNN (FP16)

[Ar-Ray-code]

Hello.
I am a college student in Japan and a fan of darknet_ros.

I've been wanting to make the ROS2 + YOLO v4 implementation happen for a long time, and I'm happy to report that I was able to implement it.

Main changes (my commits -> foxy)

• Support for YOLO v4 : Switched the submodule to the master branch of AlexeyAB/darknet.
• Removed IPL : Switched from IPL to CV::Mat for OpenCV4 support.
• cuDNN🔥🔥: supported cuDNN & FP16

Requirements

• ROS2 Foxy
• OpenCV4 ($ sudo apt install ros-foxy-vision-opencv)
• CUDA 10 or 11 (tested with CUDA 11.3)
• cuDNN 8 (Optional)

Installation

$ source /opt/ros/foxy/setup.bash
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone --recursive  https://github.com/Ar-Ray-code/darknet_ros_yolov4.git
$ darknet_ros_yolov4/darknet_ros/rm_darknet_CMakeLists.sh
$ cd ~/ros2_ws
$ colcon build --symlink-install

Demo

Connect your webcam to your PC.

Terminal

$ source /opt/ros/foxy/setup.bash
$ source ~/ros2_ws/install/local_setup.bash
$ ros2 launch darknet_ros demo-v4-tiny.launch.py

Performance

Using YOLO v4 consumes a lot of GPU memory and lowers the frame rate, so you need to pay attention to your PC specs.

Test Machine

Topics	Spec
CPU	Ryzen7 2700X (@3.7GHz x 16)
RAM	16GB DDR4
GPU	NVIDIA GeForce RTX 2080 Ti (GDDR6 11GB)
Driver	460.32.03

Performance

YOLO v3 : 67 fps (72 ~ 62 fps), uses 1781MB of VRAM
YOLO v4 : 29 fps (27 ~ 30.5 fps), uses 3963MB of VRAM

Please give it a try. Thank you.

[Ar-Ray-code]

Changed CMakeLists.txt to work correctly on CPU.
OpenMP is used.
706dce0

[Ar-Ray-code]

Did you devel on top of the master or the foxy branch, @Ar-Ray-code? Could you rebase such that only your changes are included?

I develop this on the master branch.

[Ar-Ray-code]

Did the build for the GPU work?
If you have any questions, please let me know :)

[Ar-Ray-code]

I will support ROS-Humble and Ampere architecture.
Are there any plans to create a Humble branch?

[wanilly]

Hello, bro! Your code and advising help us. Thank you so much. I have a error.
Error: CMake Error at /usr/share/cmake-3.16/Modules/FindCUDA.cmake:707 (message):
Specify CUDA_TOOLKIT_ROOT_DIR

So, it is not building colcon. How can I solve problem. Help me!!

--> Feb 9 17:18 in korea : I guess CUDA version problem. I have another issuse.