Created
May 4, 2022 12:08
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<?xml version="1.0" encoding="utf-8"?> | |
<launch> | |
<!-- Console launch prefix --> | |
<arg name="launch_prefix" default=""/> | |
<arg name="image" default="/carla/camera/rgb/front/image_color" /> | |
<!-- Config and weights folder. --> | |
<arg name="yolo_weights_path" default="$(find darknet_ros)/yolo_network_config/weights"/> | |
<arg name="yolo_config_path" default="$(find darknet_ros)/yolo_network_config/cfg"/> | |
<!-- ROS and network parameter files --> | |
<arg name="ros_param_file" default="$(find darknet_ros)/config/ros.yaml"/> | |
<arg name="network_param_file" default="$(find darknet_ros)/config/yolov2-tiny.yaml"/> | |
<!-- Load parameters --> | |
<rosparam command="load" ns="darknet_ros" file="$(arg ros_param_file)"/> | |
<rosparam command="load" ns="darknet_ros" file="$(arg network_param_file)"/> | |
<!-- Start darknet and ros wrapper --> | |
<node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)"> | |
<param name="weights_path" value="$(arg yolo_weights_path)" /> | |
<param name="config_path" value="$(arg yolo_config_path)" /> | |
<remap from="camera/rgb/image_raw" to="$(arg image)" /> | |
</node> | |
<!--<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> --> | |
</launch> |
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