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perception/tensorrt_yolox/launch
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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" />
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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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<?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" />
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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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