How to use Yolo in ROS Noetic ?

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When I used ROS Melodic/Ubuntu 18.04, I could use the darknet_ros package from Legged Robotics. Now I have 'upgraded' to ROS Noetic/Ubuntu 20.04 I cannot find any way to install Darknet and Yolo.

The problem is due to configuration hell. I am using cuda 10.1 and gcc 8.4.0 due to compatibility requirements imposed by other systems. I have tried so many branches of darknet_ros. Many of these do not come with a version of darknet, so I have sought that from other github sources. I can't find anything that works together. Ubuntu 20.04 uses opencv4. There is a darknet branch which supports that, but then compiling darknet_ros complains that darknet is missing a file 'art.c'. If I try other branches of darknet the compiler complains of needing C++11 for opencv even though the cmake files specify c++11.

Can anyone point me to a setup that works under Noetic ?