pipeline works but might be slow on runtime

ros2_ws/src/yolov3/CMakeLists.txt

@@ -1,7 +1,7 @@
 
 
 cmake_minimum_required(VERSION 3.5)
-project(yolov4_msg)
+project(yolov3_msg)
 
 # Find dependencies
 #find_package(ament_cmake REQUIRED)
@@ -9,26 +9,26 @@ find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 
 # Create the executable
-#add_executable(yolov4_msg yolov4_msg.py)
+#add_executable(yolov3_msg yolov3_msg.py)
 
 # Set the permissions of the Python script to be executable
 
 find_package(rosidl_default_generators REQUIRED)
 
-rosidl_generate_interfaces(yolov4_msg
+rosidl_generate_interfaces(yolov3_msg
   "msg/BoundingBox.msg"
   "msg/BoundingBoxes.msg"
   DEPENDENCIES builtin_interfaces std_msgs 
 )
 
 # Link the executable with the necessary libraries
-#ament_target_dependencies(yolov4_msg rclpy)
+#ament_target_dependencies(yolov3_msg rclpy)
 
 # Install the executable
-#install(TARGETS yolov4_msg DESTINATION lib/yolov4_msg)
+#install(TARGETS yolov3_msg DESTINATION lib/yolov3_msg)
 
 # Install the script, setup.py, and package.xml files
-#install(PROGRAMS yolov4_msg.py
+#install(PROGRAMS yolov3_msg.py
  #       DESTINATION lib/yolov3_on_bag)
 #install(FILES package.xml
   #      DESTINATION share/yolov3_on_bag)
@@ -39,7 +39,7 @@ rosidl_generate_interfaces(yolov4_msg
 # Package information
 #ament_package()
 
-#add_executable(yolov4_msg yolov4_msg.py)
+#add_executable(yolov3_msg yolov3_msg.py)
 
 ament_export_dependencies(rosidl_default_runtime)
 

ros2_ws/src/yolov3/detect_on_bag.py

@@ -41,7 +41,7 @@ from utils.plots import Annotator, colors, save_one_box
 from utils.torch_utils import select_device, time_sync
 from utils.augmentations import Albumentations, augment_hsv, copy_paste, letterbox
 import numpy as np
-from yolov4_msg.msg import BoundingBox, BoundingBoxes
+from yolov3_msg.msg import BoundingBox, BoundingBoxes
 from rclpy.clock import Clock
 
 @torch.no_grad()
@@ -152,6 +152,8 @@ def run(weights=ROOT / 'yolov3.pt',  # model.pt path(s)
         LOGGER.info(f'{s}Done. ({t3 - t2:.3f}s)')
         # Stream results
         im0 = annotator.result()
+        if update:
+            strip_optimizer(weights)  # update model (to fix SourceChangeWarning)
         # cv2.imwrite(save_path, im0)
         return im0, bounding_boxes_msg
 
@@ -177,6 +179,8 @@ class DetectOnBag(Node):
         detected_img, bboxes = run('src/yolov3/runs/train/exp14/weights/best.pt', cv_image)
         self.detected_img_pub.publish(self.numpy_array_to_image_msg(detected_img))
         bboxes.image_header = msg.header
+        bboxes.header.stamp = msg.header.stamp
+        bboxes.header.frame_id = 'detection'
         self.bboxes_pub.publish(bboxes)
     
     def numpy_array_to_image_msg(self, numpy_array):

ros2_ws/src/yolov3/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>yolov4_msg</name>
+  <name>yolov3_msg</name>
   <version>0.1.0</version>
   <description>
     This is a ROS2 package for running yolov3 on rosbag