feat: add multiple yolox launcher

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

Author: miursh

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -37,7 +37,17 @@
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
   <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"/> -->
+  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
+    <arg name="image_raw0" value="$(var image_raw0)"/>
+    <arg name="image_raw1" value="$(var image_raw1)"/>
+    <arg name="image_raw2" value="$(var image_raw2)"/>
+    <arg name="image_raw3" value="$(var image_raw3)"/>
+    <arg name="image_raw4" value="$(var image_raw4)"/>
+    <arg name="image_raw5" value="$(var image_raw5)"/>
+    <arg name="image_raw6" value="$(var image_raw6)"/>
+    <arg name="image_raw7" value="$(var image_raw7)"/>
+    <arg name="image_number" value="$(var image_number)"/>
+  </include> -->
 
   <!-- PointPainting -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">

perception/tensorrt_yolox/launch/multiple_yolox.launch.xml

@@ -0,0 +1,69 @@
+<launch>
+  <arg name="image_raw0" default="/image_raw0"/>
+  <arg name="gpu_id_image_raw0" default="0"/>
+
+  <arg name="image_raw1" default=""/>
+  <arg name="gpu_id_image_raw1" default="0"/>
+
+  <arg name="image_raw2" default=""/>
+  <arg name="gpu_id_image_raw2" default="0"/>
+
+  <arg name="image_raw3" default=""/>
+  <arg name="gpu_id_image_raw3" default="0"/>
+
+  <arg name="image_raw4" default=""/>
+  <arg name="gpu_id_image_raw4" default="0"/>
+
+  <arg name="image_raw5" default=""/>
+  <arg name="gpu_id_image_raw5" default="0"/>
+
+  <arg name="image_raw6" default=""/>
+  <arg name="gpu_id_image_raw6" default="0"/>
+
+  <arg name="image_raw7" default=""/>
+  <arg name="gpu_id_image_raw7" default="0"/>
+
+  <arg name="image_number" default="1"/>
+  <arg name="output_topic" default="rois"/>
+
+  <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw0)"/>
+    <arg name="output_topic" value="rois0"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw1)"/>
+    <arg name="output_topic" value="rois1"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw2)"/>
+    <arg name="output_topic" value="rois2"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw3)"/>
+    <arg name="output_topic" value="rois3"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw4)"/>
+    <arg name="output_topic" value="rois4"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw5)"/>
+    <arg name="output_topic" value="rois5"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw5)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw6)"/>
+    <arg name="output_topic" value="rois6"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw6)"/>
+  </include>
+  <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+    <arg name="input_topic" value="$(var image_raw7)"/>
+    <arg name="output_topic" value="rois7"/>
+    <arg name="gpu_id" value="$(var gpu_id_image_raw7)"/>
+  </include>
+</launch>