# YOLOv8 ROS Package > [name=沈尚緯(m4xshen@gmail.com)] [GitHub Repo](https://github.com/NCTU-AUV/yolov8_ros) ## Nodes There are 2 nodes in this package: `image_publisher` and `yolov8_node`. ### `image_publisher` #### Function - Publish a testing image to `/front_camera/image_raw`, simulating the front ZED camera. #### Type - published data type: [sensor_msgs/Image](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html) ### `yolov8_node` #### Function - Subscribe to `/front_camera/image_raw` and detect the door position with YOLO. - Publish the detection messages to `/detections` topic. #### Type - subscribed data type: [sensor_msgs/Image](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html) - published data type: [Detection2DArray](https://docs.ros.org/en/lunar/api/vision_msgs/html/msg/Detection2DArray.html) (if no object detected the `detections` property will be an empty array) ## Installation ``` mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone git@github.com:NCTU-AUV/yolov8_ros.git ``` ## Getting started ### Build ``` catkin_make source devel/setup.bash ``` ### Run ```bash rosrun yolov8_ros image_publisher.py # no need to run this line when using gazebo rosrun yolov8_ros yolov8_node.py ``` or run the `image_publisher` and `yolov8_node` with roslaunch: ``` roslaunch yolov8_ros yolov8_launch.launch ``` ### View You can check the published result with: ``` rostopic echo /detections ```