Operating system about yolov8_ros HOT 14 CLOSED

I have pushed a new version. Can you launch it and check if the error persists?

from yolov8_ros.

I will upload the log file tomorrow.

from yolov8_ros.

@godcapable, I have never tried to run it on Windows but I suppose it can be used on Windows 10 since I am using python packages that should run on it and normal rclpy stuff. Have you modified the QoS of the topics?

from yolov8_ros.

@mgonzs13 , Thank you for your kind reply. I will fix my error to run code in Windows 10.
※ Have you modified the QoS of the topics? : No I did not modified QoS of the topics.

■ The image data is generated from NVIDIA Isaac sim camera,

C:\Users\mm\Desktop>ros2 topic list
/camera/rgb/image_raw
/camera_camera_info
/camera_depth
/clock
/parameter_events
/rosout
/tf

The topic named "/camera/rgb/image_raw" is publishing the image data successfully, which can be visualized in RVIZ2.

■ After ros2 launch yolov8_bringup yolov8.launch.py

C:\Users\mm\Desktop>ros2 topic list
/camera/rgb/image_raw
/camera_camera_info
/camera_depth
/clock
/parameter_events
/rosout
/tf
/yolo/dbg_image
/yolo/debug_node/transition_event
/yolo/detections
/yolo/dgb_bb_markers
/yolo/dgb_kp_markers
/yolo/tracking
/yolo/yolov8_node/transition_event

■ launch.log :

C:\Users\mm\Desktop>ros2 launch yolov8_bringup yolov8.launch.py
[INFO] [launch]: All log files can be found below C:\Users\mm.ros\log\2024-06-05-10-55-06-993300-KORCO087849-1968
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [yolov8_node.EXE-1]: process started with pid [9852]
[INFO] [tracking_node.EXE-2]: process started with pid [12972]
[INFO] [debug_node.EXE-3]: process started with pid [6036]
[ERROR] [yolov8_node.EXE-1]: process has died [pid 9852, exit code 1, cmd 'c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node.EXE --ros-args -r __node:=yolov8_node -r __ns:=/yolo --params-file C:\Users\mm\AppData\Local\Temp\launch_params_lww19mzd -r image_raw:=/camera/rgb/image_raw'].
[yolov8_node.EXE-1] [INFO] [1717552525.017452100] [yolo.yolov8_node]: Yolov8 Node created
(After the log the terminal is stopped forever, so I pressed ctrl-c, This behavior is repeating for every single trial)

■ ros2 topic echo /yolo/detections
I see no data transferred.

■ rqt graph looks like

To see QoS setting of the image publish topic,
■ ros2 topic info /camera/rgb/image_raw -v

C:\Users\mm\Desktop>ros2 topic info /camera/rgb/image_raw -v
Type: sensor_msgs/msg/Image

Publisher count: 1

Node name: _Render_PostProcess_SDGPipeline_RenderProduct_Replicator_NodeWriterWriter_01
Node namespace: /
Topic type: sensor_msgs/msg/Image
Endpoint type: PUBLISHER
GID: 01.0f.c5.df.80.65.76.d6.01.00.00.00.00.00.08.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Subscription count: 2

Node name: debug_node
Node namespace: /yolo
Topic type: sensor_msgs/msg/Image
Endpoint type: SUBSCRIPTION
GID: 01.0f.c5.df.38.0f.99.ba.01.00.00.00.00.00.1f.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: tracking_node
Node namespace: /yolo
Topic type: sensor_msgs/msg/Image
Endpoint type: SUBSCRIPTION
GID: 01.0f.c5.df.78.4c.15.d7.01.00.00.00.00.00.1d.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

■ ros2 topic info /yolo/detections -v
Type: yolov8_msgs/msg/DetectionArray
Publisher count: 0
Subscription count: 1

Node name: tracking_node
Node namespace: /yolo
Topic type: yolov8_msgs/msg/DetectionArray
Endpoint type: SUBSCRIPTION
GID: 01.0f.c5.df.78.4c.15.d7.01.00.00.00.00.00.1e.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Could you give me any suggestion about the QoS setting?
I am actually beginner level user and your comment would be a great help for me 👍

Thank you!

from yolov8_ros.

The rqt_graph seems fine. You can use launch args to change the QoS of yolo ros2 launch yolov8_bringup yolov8.launch.py image_reliability:=1. Could you check the README with the other arguments?

I need more information about the error of yolov8_node. It seems to break at the very start. You can add more logs to check where the error is.

from yolov8_ros.

I tried QoS value 0,1,2 and could not resolve the problem.
Here is the log file.

1717589010.3518336 [INFO] [launch]: All log files can be found below C:\Users\oh.ros\log\2024-06-05-21-03-29-794825-KORCO087849-17168
1717589010.3528259 [INFO] [launch]: Default logging verbosity is set to INFO
1717589011.3120906 [INFO] [yolov8_node.EXE-1]: process started with pid [28268]
1717589011.3125870 [INFO] [tracking_node.EXE-2]: process started with pid [15356]
1717589011.3130825 [INFO] [debug_node.EXE-3]: process started with pid [25888]
1717589026.8383901 [yolov8_node.EXE-1] YOLOv8m summary (fused): 218 layers, 25886080 parameters, 0 gradients, 78.9 GFLOPs
1717589028.7608855 [ERROR] [yolov8_node.EXE-1]: process has died [pid 28268, exit code 1, cmd 'c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node.EXE --ros-args -r __node:=yolov8_node -r __ns:=/yolo --params-file C:\Users\oh\AppData\Local\Temp\launch_params_4wwcwo67 -r image_raw:=/camera/rgb/image_raw'].
1717589028.7618780 [yolov8_node.EXE-1] [INFO] [1717589025.905938700] [yolo.yolov8_node]: Yolov8 Node created

1717589037.6954601 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
1717589039.5301654 [ERROR] [debug_node.EXE-3]: process has died [pid 25888, exit code 3221225786, cmd 'c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\debug_node.EXE --ros-args -r __node:=debug_node -r __ns:=/yolo --params-file C:\Users\oh\AppData\Local\Temp\launch_params_vq4nurin -r image_raw:=/camera/rgb/image_raw -r detections:=tracking'].
1717589039.5311575 [debug_node.EXE-3] [INFO] [1717589026.026702800] [yolo.debug_node]: Debug node created

1717589039.5549669 [ERROR] [tracking_node.EXE-2]: process has died [pid 15356, exit code 3221225786, cmd 'c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\tracking_node.EXE --ros-args -r __node:=tracking_node -r __ns:=/yolo --params-file C:\Users\oh\AppData\Local\Temp\launch_params_aeyu3ec3 -r image_raw:=/camera/rgb/image_raw'].
1717589039.5559587 [tracking_node.EXE-2] [INFO] [1717589026.468462900] [yolo.tracking_node]: Configuring tracking_node

When I merely open .exe file in c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node.EXE

Traceback (most recent call last):
File "C:\ros2_workspace\install\yolov8_ros\Lib\yolov8_ros\yolov8_node-script.py", line 33, in
sys.exit(load_entry_point('yolov8-ros==0.0.0', 'console_scripts', 'yolov8_node')())
File "C:\ros2_workspace\install\yolov8_ros\Lib\yolov8_ros\yolov8_node-script.py", line 22, in importlib_load_entry_point
for entry_point in distribution(dist_name).entry_points
File "c:\opt\ros\humble\x64\lib\importlib\metadata_init_.py", line 957, in distribution
return Distribution.from_name(distribution_name)
File "c:\opt\ros\humble\x64\lib\importlib\metadata_init_.py", line 548, in from_name
raise PackageNotFoundError(name)
importlib.metadata.PackageNotFoundError: No package metadata was found for yolov8-ros

from yolov8_ros.

You should use image_reliability:=1 because of the QoS of the topics of your camera. I don't understand why you are getting the yolov8_node error before configuring and activating it. Can you add some logs in the init of the node?

from yolov8_ros.

C:\Users\oh\Desktop>c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node.EXE --ros-args -r __node:=yolov8_node -r __ns:=/yolo --params-file C:\Users\oh\AppData\Local\Temp\launch_params_vbnoygpe -r image_raw:=/camera/rgb/image_raw

[INFO] [1717594310.802842700] [yolo.yolov8_node]: Yolov8 Node created
[INFO] [1717594310.811385300] [yolo.yolov8_node]: Configuring yolov8_node
[INFO] [1717594311.217662700] [yolo.yolov8_node]: Activating yolov8_node
YOLOv8m summary (fused): 218 layers, 25886080 parameters, 0 gradients, 78.9 GFLOPs
Traceback (most recent call last):
File "c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node-script.py", line 33, in
sys.exit(load_entry_point('yolov8-ros==0.0.0', 'console_scripts', 'yolov8_node')())
File "c:\ros2_workspace\install\yolov8_ros\Lib\site-packages\yolov8_ros\yolov8_node.py", line 293, in main
rclpy.spin(node)
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy_init_.py", line 222, in spin
executor.spin_once()
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 712, in spin_once
raise handler.exception()
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\task.py", line 239, in call
self._handler.send(None)
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 418, in handler
await call_coroutine(entity, arg)
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 343, in _execute_subscription
await await_or_execute(sub.callback, msg)
File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 107, in await_or_execute
return callback(*args)
File "c:\ros2_workspace\install\yolov8_ros\Lib\site-packages\yolov8_ros\yolov8_node.py", line 238, in image_cb
cv_image = self.cv_bridge.imgmsg_to_cv2(msg)
File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 169, in imgmsg_to_cv2
dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding)
File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 104, in encoding_to_dtype_with_channels
return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding))
File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 96, in encoding_to_cvtype2
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: DLL load failed while importing cv_bridge_boost: The specified procedure cannot be found.

from yolov8_ros.

I have pushed a new version. Can you launch it and check if the error persists?

Okay I will try!

from yolov8_ros.

I have pushed a new version. Can you launch it and check if the error persists?

Unfortunately, new version still have the same issue.

from yolov8_ros.

C:\Users\oh\Desktop>c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node.EXE --ros-args -r __node:=yolov8_node -r __ns:=/yolo --params-file C:\Users\oh\AppData\Local\Temp\launch_params_vbnoygpe -r image_raw:=/camera/rgb/image_raw

[INFO] [1717594310.802842700] [yolo.yolov8_node]: Yolov8 Node created [INFO] [1717594310.811385300] [yolo.yolov8_node]: Configuring yolov8_node [INFO] [1717594311.217662700] [yolo.yolov8_node]: Activating yolov8_node YOLOv8m summary (fused): 218 layers, 25886080 parameters, 0 gradients, 78.9 GFLOPs Traceback (most recent call last): File "c:\ros2_workspace\install\yolov8_ros\lib\yolov8_ros\yolov8_node-script.py", line 33, in sys.exit(load_entry_point('yolov8-ros==0.0.0', 'console_scripts', 'yolov8_node')()) File "c:\ros2_workspace\install\yolov8_ros\Lib\site-packages\yolov8_ros\yolov8_node.py", line 293, in main rclpy.spin(node) File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy__init__.py", line 222, in spin executor.spin_once() File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 712, in spin_once raise handler.exception() File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\task.py", line 239, in call self._handler.send(None) File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 418, in handler await call_coroutine(entity, arg) File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 343, in _execute_subscription await await_or_execute(sub.callback, msg) File "c:\opt\ros\humble\x64\Lib\site-packages\rclpy\executors.py", line 107, in await_or_execute return callback(*args) File "c:\ros2_workspace\install\yolov8_ros\Lib\site-packages\yolov8_ros\yolov8_node.py", line 238, in image_cb cv_image = self.cv_bridge.imgmsg_to_cv2(msg) File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 169, in imgmsg_to_cv2 dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding) File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 104, in encoding_to_dtype_with_channels return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding)) File "c:\opt\ros\humble\x64\Lib\site-packages\cv_bridge\core.py", line 96, in encoding_to_cvtype2 from cv_bridge.boost.cv_bridge_boost import getCvType ImportError: DLL load failed while importing cv_bridge_boost: The specified procedure cannot be found.

This seems a different error. Have you installed cv_bridge?

from yolov8_ros.

Yes, I already have cv_bridge installed in C:\opt\ros\humble\x64\Lib\site-packages

There is one cy_bridge_boost.pyd file in the folder, which seems to be a problem.

I also tried installing additional cv_bridge from https://github.com/ros-perception/vision_opencv in C:\ros2_workspace , but the error persists.

from yolov8_ros.

Fresh terminal, fail to use function in cv_bridge in python

from cv_bridge.boost.cv_bridge_boost import getCvType
Traceback (most recent call last): File "<stdin>", line 1, in <module> ImportError: DLL load failed while importing cv_bridge_boost:

Similar error reported : ros-perception/vision_opencv#207

Can using numpy instead of cv_bridge be a possible solution?

from yolov8_ros.

I modified yolov8_node.py (and tracking, debug nodes) code to use numpy instead of cv_bridge. Was the issue of cv_bridge, and this solved the problem.

# Copyright (C)```
 2023  Miguel Ángel González Santamarta

# from cv_bridge import CvBridge
import numpy as np

...

class Yolov8Node(LifecycleNode):
...
        # self.cv_bridge = CvBridge()
...
    def image_cb(self, msg: Image) -> None:

            # convert image + predict
            # cv_image = self.cv_bridge.imgmsg_to_cv2(msg)
            im = np.frombuffer(msg.data, dtype=np.uint8).reshape(msg.height, msg.width, -1)

from yolov8_ros.