🤖 TurtleBot4 Object Detection with ROS 2

A ROS 2-powered project that enables real-time object detection and localization using YOLOv8 and a TurtleBot4 robot. Ideal for autonomous navigation, exploration, and interaction tasks in indoor environments.

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🧠 Features

• 📦 Real-time object detection using YOLOv8
• 🧭 ROS 2 integration with TurtleBot4
• 📍 Object position localization in map frame
• 🖼️ Live camera feed with bounding boxes
• 🗺️ Optional SLAM or Navigation2 integration

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📷 Demo

Working.Video.mp4

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🧰 Tech Stack

Component	Technology
Robot	TurtleBot4
Framework	ROS 2 (Humble/Foxy)
Perception	YOLOv8, OpenCV, PyTorch
Visualization	RViz2
OS	Ubuntu 22.04 + ROS 2

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📁 Folder Structure

turtlebot4-object-detection/
├── src/                      # ROS 2 packages
│   └── object\_detection/     # Main node
├── launch/                   # Launch files
├── models/                   # YOLO weights
├── scripts/                  # Utility scripts
└── README.md

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Result

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⚙️ Installation

1. Clone Repository

   git clone https://github.com/yashgolani28/turtlebot4-object-detection.git
   cd turtlebot4-object-detection
   

2. Install Dependencies

   sudo apt update
   sudo apt install ros-humble-cv-bridge ros-humble-image-transport
   pip install ultralytics

3. Download YOLOv8 Weights

   cd models/
   wget https://path/to/yolov8n.pt

4. Build the Workspace

   colcon build
   source install/setup.bash

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🚀 Usage

ros2 launch object_detection detection.launch.py

Use RViz2 to visualize detections or subscribe to /detections topic.

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📦 Topics

• /camera/image_raw – raw video feed
• /detections – detected object class & bounding boxes
• /tf – for object localization

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👨‍💻 Contributors

• Yash Golani

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📬 Contact

For queries, contact via LinkedIn or open an issue on this repo.