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I am considering setting up a ROS2 system which uses Yolo. I'd like the image sharing between the camera driver and the Yolo node to use memory sharing instead of serializing/deserializing over ROS messages. My understanding is that ROS2 composition can achieve this but currently only works with C++ 'components'. My understanding is that existing Yolo packages use Python. Is there a way to use Yolo in C++, maybe using some kind of a C++ wrapper?

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  • $\begingroup$ Your question about shared memory seems like a textbook definition of premature optimization, but you haven't given us enough detail to be sure. It's also unclear to me how message serialization is involved. $\endgroup$
    – Mike973
    Commented Dec 9, 2023 at 14:00

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You can use YOLO in DarkNet which is C and cuda. I have used it with ROS2 using the python API but the program compiled from source locally. I did not mix the DarkNet source code with ROS2 C++, just the API, but I suspect someone better at SW than me may be able to merge at source level. That may allow the memory based sharing you're asking about.

https://pjreddie.com/darknet/yolo/
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