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ROS/ROS 2 package for Ultralytics YOLOv8 real-time object detection and segmentation. https://github.com/ultralytics/ultralytics
| Date | Stars |
|---|---|
| 2026-07-24 | 324 |
| 2026-07-25 | 324 |
| 2026-07-28 | 324 |
| 2026-07-30 | 324 |
| 2026-08-06 | 324 |
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# ultralytics_ros
### Introduction
ROS/ROS 2 package for real-time object detection and segmentation using the Ultralytics YOLO, enabling flexible integration with various robotics applications.
| `tracker_node` | `tracker_with_cloud_node` |
| :------------: | :-----------------------: |
| <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/7ccefee5-1bf9-48de-97e0-a61000bba822" width="450px"> | <img src="https://github.com/Alpaca-zip/ultralytics_ros/assets/84959376/674f352f-5171-4fcf-beb5-394aa3dfe320" height="160px"> |
- The `tracker_node` provides real-time object detection on incoming ROS/ROS 2 image messages using the Ultralytics YOLO model.
- The `tracker_with_cloud_node` provides functionality for 3D object detection by integrating 2D detections, mask image, LiDAR data, and camera information.
### Status
| ROS distro | Industrial CI | Docker |
| :--------: | :-----------: | :----: |
| ROS Melodic | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/melodic-docker-build-check.yml)
| ROS Noetic | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/noetic-docker-build-check.yml)
| ROS 2 Humble | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-ci.yml) | [](https://github.com/Alpaca-zip/ultralytics_ros/actions/workflows/humble-docker-build-check.yml)
## Setup ⚙
### ROS Melodic
```bash
$ cd ~/{ROS_WORKSPACE}/src
$ GIT_LFS_SKIP_SMUDGE=1 git clone -b melodic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ rosdep install -r -y -i --from-paths .
$ pip install pipenv
$ cd ultralytics_ros
$ pipenv install
$ pipenv shell
$ cd ~/{ROS_WORKSPACE} && catkin build
```
### ROS Noetic
```bash
$ cd ~/{ROS_WORKSPACE}/src
$ GIT_LFS_SKIP_SMUDGE=1 git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ rosdep install -r -y -i --from-paths .
$ python3 -m pip install -r ultralytics_ros/requirements.txt
$ cd ~/{ROS_WORKSPACE} && catkin build
```
### ROS 2 Humble
```bash
$ cd ~/{ROS2_WORKSPACE}/src
$ GIT_LFS_SKIP_SMUDGE=1 git clone -b humble-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ rosdep install -r -y -i --from-paths .
$ python3 -m pip install -r ultralytics_ros/requirements.txt
$ cd ~/{ROS2_WORKSPACE} && $ colcon build
```
**NOTE**: If you want to download KITTI datasets, remove `GIT_LFS_SKIP_SMUDGE=1` from the command line.
## Run 🚀
### ROS Melodic & ROS Noetic
**`tracker_node`**
```bash
$ roslaunch ultralytics_ros tracker.launch debug:=true
```
**`tracker_node` & `tracker_with_cloud_node`**
```bash
$ roslaunch ultralytics_ros tracker_with_cloud.launch debug:=true
```
### ROS 2 Humble
**`tracker_node`**
```bash
$ ros2 launch ultralytics_ros tracker.launch.xml debug:=true
```
**`tracker_node` & `tracker_with_cloud_node`**
```bash
$ ros2 launch ultralytics_ros tracker_with_cloud.launch.xml debug:=true
```
**NOTE**: If the 3D bounding box is not displayed correctly, please consider using a lighter yolo model(`yolov8n.pt`) or increasing the `voxel_leaf_size`.
## `tracker_node`
### Params
- `yolo_moExcerpt of 9,312 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:0946106efedec159, topic:object-detection, topic:yolo, desc:object detection
matched fp:0946106efedec159, topic:ros, topic:ros2, readme:robotics