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feat: add multiple yolox launcher
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
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launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

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<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
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<!-- Jetson AGX -->
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<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"/> -->
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<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
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<arg name="image_raw0" value="$(var image_raw0)"/>
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<arg name="image_raw1" value="$(var image_raw1)"/>
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<arg name="image_raw2" value="$(var image_raw2)"/>
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<arg name="image_raw3" value="$(var image_raw3)"/>
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<arg name="image_raw4" value="$(var image_raw4)"/>
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<arg name="image_raw5" value="$(var image_raw5)"/>
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<arg name="image_raw6" value="$(var image_raw6)"/>
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<arg name="image_raw7" value="$(var image_raw7)"/>
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<arg name="image_number" value="$(var image_number)"/>
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</include> -->
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<!-- PointPainting -->
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<group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
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<launch>
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<arg name="image_raw0" default="/image_raw0"/>
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<arg name="gpu_id_image_raw0" default="0"/>
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<arg name="image_raw1" default=""/>
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<arg name="gpu_id_image_raw1" default="0"/>
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<arg name="image_raw2" default=""/>
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<arg name="gpu_id_image_raw2" default="0"/>
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<arg name="image_raw3" default=""/>
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<arg name="gpu_id_image_raw3" default="0"/>
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<arg name="image_raw4" default=""/>
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<arg name="gpu_id_image_raw4" default="0"/>
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<arg name="image_raw5" default=""/>
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<arg name="gpu_id_image_raw5" default="0"/>
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<arg name="image_raw6" default=""/>
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<arg name="gpu_id_image_raw6" default="0"/>
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<arg name="image_raw7" default=""/>
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<arg name="gpu_id_image_raw7" default="0"/>
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<arg name="image_number" default="1"/>
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<arg name="output_topic" default="rois"/>
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<include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw0)"/>
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<arg name="output_topic" value="rois0"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw1)"/>
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<arg name="output_topic" value="rois1"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw2)"/>
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<arg name="output_topic" value="rois2"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw3)"/>
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<arg name="output_topic" value="rois3"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw4)"/>
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<arg name="output_topic" value="rois4"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw5)"/>
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<arg name="output_topic" value="rois5"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw5)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw6)"/>
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<arg name="output_topic" value="rois6"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw6)"/>
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</include>
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<include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
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<arg name="input_topic" value="$(var image_raw7)"/>
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<arg name="output_topic" value="rois7"/>
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<arg name="gpu_id" value="$(var gpu_id_image_raw7)"/>
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</include>
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</launch>

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