this is and successfull ros package，which can run YOLOv5 in ROS
①an conda env called yolo,in which you can run yolov5 dependently
②any ROS,any Ubuntu
③basic usb_cam ROS_driver (ros自带）
④yolov5s.pth or else (if you dont't have it,it will automatically donwload to your system)
⑤pip install rospy (安装ros与python的接口，这就是为什么无关的原因）
1:copy this package(ros_yolo) to your catkin_ws/src
2:catkin_make
3:in final_yolo.py, you need to change the image_topic to your own camera input topic
1:roscore
2:rosrun usb_cam usb_cam_node #启动ros自带的相机功能包 ros自带
3:conda activate yolo #进入你的conda环境
4:rosrun ros_yolo final_yolo.py
用的是final_yolo.py 文件来识别
修改93行：
classes = (0,1,2,3,5,7)