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fix(tensorrt_yolox): 🐛 renamed input output topic names
The input and output topic names of yolox.launch.xml do not match the arg names of multiple_yolox.launch.xml Signed-off-by: Ioannis Souflas <isouflas@gmail.com>
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-12
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perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

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Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
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<?xml version="1.0"?>
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<launch>
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<!-- cspell:ignore finetune -->
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<arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="input_topic" default="/sensing/camera/camera0/image_rect_color"/>
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<arg name="output_topic" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
@@ -33,13 +33,13 @@
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
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<remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
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<remap from="~/output/raw_image" to="$(var input/image)"/>
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<remap from="~/input/compressed_image" to="$(var input_topic)/compressed"/>
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<remap from="~/output/raw_image" to="$(var input_topic)"/>
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</node>
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<remap from="~/in/image" to="$(var input_topic)"/>
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<remap from="~/out/objects" to="$(var output_topic)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>

perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

+6-6
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="input_topic" default="/sensing/camera/camera0/image_rect_color"/>
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<arg name="output_topic" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-tiny"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
@@ -32,13 +32,13 @@
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
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<remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
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<remap from="~/output/raw_image" to="$(var input/image)"/>
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<remap from="~/input/compressed_image" to="$(var input_topic)/compressed"/>
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<remap from="~/output/raw_image" to="$(var input_topic)"/>
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</node>
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<remap from="~/in/image" to="$(var input_topic)"/>
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<remap from="~/out/objects" to="$(var output_topic)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>

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