59 lines
2.9 KiB
XML
Executable File
59 lines
2.9 KiB
XML
Executable File
<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="debug" default="false"/>
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<arg name="yolo_model" default="yolov8m-seg.pt"/>
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<arg name="input_topic" default="/image_raw"/>
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<arg name="result_topic" default="/yolo_result"/>
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<arg name="result_image_topic" default="/yolo_image"/>
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<arg name="conf_thres" default="0.25"/>
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<arg name="iou_thres" default="0.45"/>
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<arg name="max_det" default="300"/>
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<arg name="classes" default=""/>
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<arg name="device" default=""/>
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<arg name="result_conf" default="true"/>
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<arg name="result_line_width" default="1"/>
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<arg name="result_font_size" default="1"/>
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<arg name="result_font" default="Arial.ttf"/>
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<arg name="result_labels" default="true"/>
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<arg name="result_boxes" default="true"/>
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<arg name="camera_info_topic" default="/camera_info"/>
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<arg name="lidar_topic" default="/points_raw"/>
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<arg name="yolo_3d_result_topic" default="/yolo_3d_result"/>
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<arg name="cluster_tolerance" default="0.3"/>
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<arg name="voxel_leaf_size" default="0.1"/>
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<arg name="min_cluster_size" default="100"/>
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<arg name="max_cluster_size" default="10000"/>
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<node name="predict_node" pkg="ultralytics_ros" type="predict_node.py" output="screen">
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<param name="yolo_model" value="$(arg yolo_model)"/>
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<param name="input_topic" value="$(arg input_topic)"/>
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<param name="result_topic" value="$(arg result_topic)"/>
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<param name="result_image_topic" value="$(arg result_image_topic)"/>
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<param name="conf_thres" value="$(arg conf_thres)"/>
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<param name="iou_thres" value="$(arg iou_thres)"/>
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<param name="max_det" value="$(arg max_det)"/>
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<param name="result_conf" value="$(arg result_conf)"/>
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<param name="result_line_width" value="$(arg result_line_width)"/>
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<param name="result_font_size" value="$(arg result_font_size)"/>
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<param name="result_font" value="$(arg result_font)"/>
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<param name="result_labels" value="$(arg result_labels)"/>
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<param name="result_boxes" value="$(arg result_boxes)"/>
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<rosparam param="classes" subst_value="true">$(arg classes)</rosparam>
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<rosparam param="device" subst_value="true">$(arg device)</rosparam>
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</node>
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<node name="predict_with_cloud_node" pkg="ultralytics_ros" type="predict_with_cloud_node" output="screen">
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<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
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<param name="lidar_topic" value="$(arg lidar_topic)"/>
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<param name="yolo_result_topic" value="$(arg result_topic)"/>
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<param name="yolo_3d_result_topic" value="$(arg yolo_3d_result_topic)"/>
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<param name="cluster_tolerance" value="$(arg cluster_tolerance)"/>
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<param name="voxel_leaf_size" value="$(arg voxel_leaf_size)"/>
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<param name="min_cluster_size" value="$(arg min_cluster_size)"/>
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<param name="max_cluster_size" value="$(arg max_cluster_size)"/>
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</node>
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<node if="$(arg debug)" pkg="rviz" type="rviz" name="rviz" args="-d $(find ultralytics_ros)/rviz/default.rviz"/>
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</launch>
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