Lesson 3: Turning a YOLO Script Into a ROS 2 Node

This video is part of the mini course Robot Vision: ROSifying a YOLO Pipeline: https://cm.s1s2.ai/spaces/21840388/ In the previous lesson, you explored the ROS graph using a real rosbag: you replayed camera data, inspected topics with rqt_graph, and saw how our YOLO detector subscribed to images and published annotated output. Now it is time to look under the hood. In this lesson, we break down the Python code that transforms a simple YOLO script into a fully functional ROS 2 node. You will see how a class inherits from Node, how a subscriber is created, how incoming Image messages are converted into OpenCV frames, and how YOLO inference fits cleanly into the ROS 2 pipeline you inspected in Lesson 3. By the end, you will understand exactly how the detection node works and how it connects to the broader ROS 2 system.