> For the complete documentation index, see [llms.txt](https://omorobot.gitbook.io/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://omorobot.gitbook.io/manual/product/omo-r1mini/ros/ros1-melodic/yolo2.md).

# YOLO 사용하기

아래의 msgs 관련 패키지만 내 PC에 설치하면 됩니다.

* 지원하는 ROS 버전이 달라도 (ex> kinetic <-> melodic) 메시지 타입만 동일하다면 통신이 가능합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVy2bJ9YZJ2yiPu7-a%2Fimage.png?alt=media\&token=4413d896-8024-4e85-84cd-8c9708ed4255)

* roscore를 끄고 진행합니다.

먼저 darknet\_ros를 내 PC에 받고

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyCU7FFjPjTkCFu1i%2Fimage.png?alt=media\&token=335280ce-3d3b-45bb-b9bf-3469ab8fdc78)

그리고 darknet\_ros\_msgs만 남기고 지워주세요.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyGKyrqQYrikuS45S%2Fimage.png?alt=media\&token=9b12ac78-fd30-4ddf-8657-6fe7cee49faa)

그리고 워크스페이스로 이동한 후에 해당 패키지만 빌드해줍니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyKfDpJO-4j1FeoGo%2Fimage.png?alt=media\&token=8b118311-dc27-4305-b301-8078c88c90de)

그리고 source \~/.bashrc 로 적용시키고,

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyObKaKNVkNPmEQLM%2Fimage.png?alt=media\&token=df6c821a-e5d7-4094-a84e-e877d9f3fc9b)

다시 이렇게 실행\~

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyTQc1jbaBq6-apJ3%2Fimage.png?alt=media\&token=8c9d3737-dc1f-4e11-a385-47637af3e4d6)

이 상태에서 rostopic list 로 darknet\_ros가 잘 동작하고 있는지 확인하고,

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVyXXZ6UmWzOwjP6a5%2Fimage.png?alt=media\&token=8fe18a72-1ba9-4858-98bb-757fec033052)

&#x20;rostopic echo 명령으로 원하는 토픽의 값을 봅니다.

![rostopic echo  /darknet\_ros/bounding\_boxes](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVy_xm1oLZ9wXSdmXv%2Fimage.png?alt=media\&token=fd254035-b406-49d6-8908-d024524f3731)

![rostopic echo /darknet\_ros/found\_object](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MUVxwBR4pYXitbMTyI1%2F-MUVye5c-7oGfO2nupTp%2Fimage.png?alt=media\&token=0e07eaa6-6fa5-476a-ba05-b7be41646398)