Adding the yolov8_brake_detection node for brake lights classification

yolov8_brake_detection/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(yolov8_brake_detection)
+
+# Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Specify message files
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BrakeStatus.msg"
+)
+
+# Python scripts
+install(
+  PROGRAMS
+    yolov8_node.py
+    yolov8_predict_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install other package files
+ament_package()

yolov8_brake_detection/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>yolov8_brake_detection</name>
+  <version>0.0.0</version>
+  <description>This package is responsible for performing brake light detection.</description>
+  <maintainer email="[email protected]">root</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>sensor_msgs</depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

yolov8_brake_detection/setup.cfg

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+[develop]
+script_dir=$base/lib/yolov8_brake_detection
+[install]
+install_scripts=$base/lib/yolov8_brake_detection

yolov8_brake_detection/setup.py

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+from setuptools import setup
+
+package_name = 'yolov8_brake_detection'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=[package_name],
+    install_requires=[
+        'setuptools', 
+        'torch', 
+        'opencv-python', 
+        'cv-bridge', 
+        'rclpy', 
+        'sensor_msgs',  # Dependencies for brake light detection node
+    ],
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    entry_points={
+        'console_scripts': [
+            'yolov8_node = yolov8_brake_detection.yolov8_node:main',
+        ],
+    },
+)

yolov8_brake_detection/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

yolov8_brake_detection/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

yolov8_brake_detection/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

yolov8_brake_detection/yolov8_brake_detection/rosbag2_2024_12_11-00_42_05/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 0
+  starting_time:
+    nanoseconds_since_epoch: 9223372036854775807
+  message_count: 0
+  topics_with_message_count:
+    []
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rosbag2_2024_12_11-00_42_05_0.db3
+  files:
+    - path: rosbag2_2024_12_11-00_42_05_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 9223372036854775807
+      duration:
+        nanoseconds: 0
+      message_count: 0

yolov8_brake_detection/yolov8_brake_detection/yolov8_node.py

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+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from ultralytics import YOLO
+import cv2
+from std_msgs.msg import String, Float32
+
+class YOLOv8BrakeDetection(Node):
+    def __init__(self):
+        super().__init__('yolov8_brake_detection')
+
+        # Declare the parameter for the camera topic name
+        self.declare_parameter('image_topic', '/cameras/camera0')
+        topic_name = self.get_parameter('image_topic').get_parameter_value().string_value
+
+        # Create a subscription to the image topic
+        self.subscription = self.create_subscription(
+            Image,
+            topic_name,  # Use the topic name from the parameter
+            self.image_callback,
+            10
+        )
+
+        # Publisher for brake detection results (status as string)
+        self.publisher = self.create_publisher(String, 'brake_detection_results', 10)
+        # Publisher for confidence score as a float
+        self.confidence_publisher = self.create_publisher(Float32, 'brake_detection_confidence', 10)
+
+        # Initialize CvBridge for converting ROS Image to OpenCV image
+        self.bridge = CvBridge()
+
+        # Load the YOLOv8 model
+        model_path = '/navigator/ros2_ws/src/yolov8_brake_detection/yolov8_brake_detection/best.pt'
+        try:
+            self.get_logger().info(f"Loading YOLO model from: {model_path}")
+            self.model = YOLO(model_path)
+            self.get_logger().info("YOLOv8 model loaded successfully.")
+        except Exception as e:
+            self.get_logger().error(f"Failed to load YOLOv8 model: {e}")
+            raise e
+
+    def image_callback(self, msg):
+        try:
+            # Convert ROS Image message to OpenCV image
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+
+            # Run inference with YOLOv8
+            results = self.model(cv_image)
+
+            # Process the results (detection boxes, classes, and confidence)
+            for detection in results:
+                class_name = detection['class']  # Update as per YOLO's output format
+                confidence = detection['confidence']
+
+                # Publish the brake status
+                if class_name == 'car_BrakeOn':
+                    self.publish_brake_status("Brake On")
+                    print(f"Detected Brakes On")
+
+                elif class_name == 'car_BrakeOff':
+                    self.publish_brake_status("Brake Off")
+                    print(f"Detected Brakes Off")
+
+        except Exception as e:
+            self.get_logger().error(f"Error processing image: {e}")
+
+    def publish_brake_status(self, status):
+        try:
+            # Publish brake status as a string
+            message = String()
+            message.data = status
+            self.publisher.publish(message)
+            self.get_logger().info(f"Published brake status: {status}")
+
+        except Exception as e:
+            self.get_logger().error(f"Failed to publish brake status: {e}")
+
+    def publish_confidence(self, confidence):
+        try:
+            # Publish confidence score as a float
+            confidence_message = Float32()
+            confidence_message.data = confidence
+            self.confidence_publisher.publish(confidence_message)
+            self.get_logger().info(f"Published confidence: {confidence:.2f}")
+
+        except Exception as e:
+            self.get_logger().error(f"Failed to publish confidence score: {e}")
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # Initialize the YOLOv8BrakeDetection node
+    node = YOLOv8BrakeDetection()
+
+    # Spin the node to process incoming messages
+    rclpy.spin(node)
+
+    # Clean up and shut down
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()