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yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

yolo_ros repository

yolo_bringup yolo_msgs yolo_ros

ROS Distro
github

Repository Summary

Description Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2
Checkout URI https://github.com/mgonzs13/yolo_ros.git
VCS Type git
VCS Version main
Last Updated 2026-01-20
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
yolo_bringup 4.5.1
yolo_msgs 4.5.1
yolo_ros 4.5.1

README

yolo_ros

ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images.

[![License: MIT](https://img.shields.io/badge/GitHub-GPL--3.0-informational)](https://opensource.org/license/gpl-3-0) [![GitHub release](https://img.shields.io/github/release/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/yolo_ros.svg?branch=main)](https://github.com/mgonzs13/yolo_ros?branch=main) [![Dependencies](https://img.shields.io/librariesio/github/mgonzs13/yolo_ros?branch=main)](https://libraries.io/github/mgonzs13/yolo_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/yolo_ros)](https://github.com/mgonzs13/yolo_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/yolo_ros.svg)](https://github.com/mgonzs13/yolo_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/python-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/yolo_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/yolo_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/humble-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/iron-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/jazzy-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/kilted-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=kilted) | | **Rolling** | [`main`](https://github.com/mgonzs13/yolo_ros/tree/main) | [![Rolling Build](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/mgonzs13/yolo_ros/actions/workflows/rolling-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yolo_ros/tags?name=rolling) |

Table of Contents

  1. Installation
  2. Docker
  3. Models
  4. Usage
  5. Demos

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/yolo_ros.git
pip3 install -r yolo_ros/requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Docker

Build the yolo_ros docker.

docker build -t yolo_ros .

Run the docker container. If you want to use CUDA, you have to install the NVIDIA Container Tollkit and add --gpus all.

docker run -it --rm --gpus all yolo_ros

Models

The compatible models for yolo_ros are the following:

Usage

Click to expand ### YOLOv5 ```bash ros2 launch yolo_bringup yolov5.launch.py ``` ### YOLOv8 ```bash ros2 launch yolo_bringup yolov8.launch.py ``` ### YOLOv9 ```bash ros2 launch yolo_bringup yolov9.launch.py ``` ### YOLOv10 ```bash ros2 launch yolo_bringup yolov10.launch.py ``` ### YOLOv11 ```bash File truncated at 100 lines [see the full file](https://github.com/mgonzs13/yolo_ros/tree/main/README.md)

CONTRIBUTING