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| 1 | +<launch> |
| 2 | + <arg name="image_raw0" default="/image_raw0"/> |
| 3 | + <arg name="gpu_id_image_raw0" default="0"/> |
| 4 | + |
| 5 | + <arg name="image_raw1" default=""/> |
| 6 | + <arg name="gpu_id_image_raw1" default="0"/> |
| 7 | + |
| 8 | + <arg name="image_raw2" default=""/> |
| 9 | + <arg name="gpu_id_image_raw2" default="0"/> |
| 10 | + |
| 11 | + <arg name="image_raw3" default=""/> |
| 12 | + <arg name="gpu_id_image_raw3" default="0"/> |
| 13 | + |
| 14 | + <arg name="image_raw4" default=""/> |
| 15 | + <arg name="gpu_id_image_raw4" default="0"/> |
| 16 | + |
| 17 | + <arg name="image_raw5" default=""/> |
| 18 | + <arg name="gpu_id_image_raw5" default="0"/> |
| 19 | + |
| 20 | + <arg name="image_raw6" default=""/> |
| 21 | + <arg name="gpu_id_image_raw6" default="0"/> |
| 22 | + |
| 23 | + <arg name="image_raw7" default=""/> |
| 24 | + <arg name="gpu_id_image_raw7" default="0"/> |
| 25 | + |
| 26 | + <arg name="image_number" default="1"/> |
| 27 | + <arg name="output_topic" default="rois"/> |
| 28 | + |
| 29 | + <include if="$(eval "'$(var image_number)'>='1'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 30 | + <arg name="input_topic" value="$(var image_raw0)"/> |
| 31 | + <arg name="output_topic" value="rois0"/> |
| 32 | + <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/> |
| 33 | + </include> |
| 34 | + <include if="$(eval "'$(var image_number)'>='2'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 35 | + <arg name="input_topic" value="$(var image_raw1)"/> |
| 36 | + <arg name="output_topic" value="rois1"/> |
| 37 | + <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/> |
| 38 | + </include> |
| 39 | + <include if="$(eval "'$(var image_number)'>='3'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 40 | + <arg name="input_topic" value="$(var image_raw2)"/> |
| 41 | + <arg name="output_topic" value="rois2"/> |
| 42 | + <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/> |
| 43 | + </include> |
| 44 | + <include if="$(eval "'$(var image_number)'>='4'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 45 | + <arg name="input_topic" value="$(var image_raw3)"/> |
| 46 | + <arg name="output_topic" value="rois3"/> |
| 47 | + <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/> |
| 48 | + </include> |
| 49 | + <include if="$(eval "'$(var image_number)'>='5'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 50 | + <arg name="input_topic" value="$(var image_raw4)"/> |
| 51 | + <arg name="output_topic" value="rois4"/> |
| 52 | + <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/> |
| 53 | + </include> |
| 54 | + <include if="$(eval "'$(var image_number)'>='6'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 55 | + <arg name="input_topic" value="$(var image_raw5)"/> |
| 56 | + <arg name="output_topic" value="rois5"/> |
| 57 | + <arg name="gpu_id" value="$(var gpu_id_image_raw5)"/> |
| 58 | + </include> |
| 59 | + <include if="$(eval "'$(var image_number)'>='7'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 60 | + <arg name="input_topic" value="$(var image_raw6)"/> |
| 61 | + <arg name="output_topic" value="rois6"/> |
| 62 | + <arg name="gpu_id" value="$(var gpu_id_image_raw6)"/> |
| 63 | + </include> |
| 64 | + <include if="$(eval "'$(var image_number)'>='8'")" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml"> |
| 65 | + <arg name="input_topic" value="$(var image_raw7)"/> |
| 66 | + <arg name="output_topic" value="rois7"/> |
| 67 | + <arg name="gpu_id" value="$(var gpu_id_image_raw7)"/> |
| 68 | + </include> |
| 69 | +</launch> |
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