YouTube-publisher-ROS2

Publish sensor_msgs/Image by "YouTube" 🤗 🤗 🤗 !

You don't have to use webcamera or your video to check demos.

Purpose

• Quick demo 🚀
• Comparison performance 🤔
• Sharing your results 📨

Requirements

• ROS2 Foxy
• OpenCV4
• youtube-dl : Re-sharing of acquired videos from YouTube is prohibited.
• ffmpeg-python

Installation

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/Ar-Ray-code/YouTube-publisher-ROS2.git
pip3 install -r YouTube-publisher-ROS2/requirements.txt
cd ~/ros2_ws
colcon build --symlink-install

Demo with YOLOX-ROS

Build

# YOLOX installation
cd ~/Documents/
git clone --recursive https://github.com/Megvii-BaseDetection/YOLOX
cd ~/Documents/YOLOX
pip3 install -U pip && pip3 install -r requirements.txt
pip3 install -v -e .  # or  python3 setup.py develop
pip3 install cython; pip3 install 'git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI'

# ROS2 Installation
cd ~/ros2_ws/src

git clone https://github.com/Ar-Ray-code/YouTube-publisher-ROS2.git
git clone https://github.com/Ar-Ray-code/YOLOX-ROS.git --recursive
pip3 install -r YouTube-publisher-ROS2/requirements.txt

cd ~/ros2_ws
colcon build --symlink-install

Run

ros2 launch youtube_publisher youtube_publisher_yolox.launch.py

Parameter

Look the launch.py file !

	youtube = launch_ros.actions.Node(
        package='youtube_publisher', executable='youtube_pub',
        parameters=[
            {'topic_name': '/image_raw'},
            {'cache_path': youtube_publisher_share_dir + '/cache'},
            {'video_url' : 'https://youtu.be/CFLOiR2EbKM'},
            {'using_youtube_dl' : True},
            {'clear_cache_force' : False},
            {'width' : 854},
            {'height' : 480},
            {'speed' : 1.0},
            {'imshow_is_show' : True}
        ],
    )

• topic_name : Publish topic name（Default : image_raw）
• cache_path : Path of the video to be saved（Default : ~/cache/youtube_publisher）
• video_url : YouTube Video URL（Default : https://youtu.be/CFLOiR2EbKM）
• using_youtube_dl : Automatically download video from YouTube when it is not downloaded. （Default : True）
  • If you run it again, it will load the cache and will not be downloaded.
  • If URL is re-writtten, it will be cleared cache and re-downloaded.
• clear_cache_force : Clear cache and re-download force. （Default : False）
• width : Width of publishing video. Not about downloaded video width.（Default : 720）
• height : Height of publishing video. Not about downloaded video height.（Default : 480）
• speed : Video playback speed.（Default : 1.0）
• imshow_is_show : Video visualization with imshow. （Default : False）
  • True : show, False : Don't show

About author

• author : Ar-Ray
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