yolov12 added

README.md

@@ -48,6 +48,7 @@ The compatible models for yolo_ros are the following:
 - [YOLOv9](https://docs.ultralytics.com/models/yolov9/)
 - [YOLOv10](https://docs.ultralytics.com/models/yolov10/)
 - [YOLOv11](https://docs.ultralytics.com/models/yolo11/)
+- [YOLOv12](https://docs.ultralytics.com/models/yolo12/)
 - [YOLO-World](https://docs.ultralytics.com/models/yolo-world/)
 
 ## Usage
@@ -85,6 +86,12 @@ ros2 launch yolo_bringup yolov10.launch.py
 ros2 launch yolo_bringup yolov11.launch.py
 ```
 
+### YOLOv12
+
+```shell
+ros2 launch yolo_bringup yolov12.launch.py
+```
+
 ### YOLO-World
 
 ```shell

requirements.txt

@@ -1,5 +1,5 @@
 numpy<2
 opencv-python>=4.8.1.78
 typing-extensions>=4.4.0
-ultralytics==8.3.26
+ultralytics==8.3.78
 lap==0.4.0

yolo_bringup/launch/yolov12.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="yolo12m.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="2"
+                    ),
+                    "namespace": LaunchConfiguration("namespace", default="yolo"),
+                }.items(),
+            )
+        ]
+    )

yolo_ros/yolo_ros/detect_3d_node.py

@@ -196,7 +196,7 @@ def process_detections(
             return []
 
         new_detections = []
-        depth_image = self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="bgr8")
+        depth_image = self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough")
 
         for detection in detections_msg.detections:
             bbox3d = self.convert_bb_to_3d(depth_image, depth_info_msg, detection)