segmentation_pointcloud_fusion.launch.xml

<launch>
  <arg name="input/camera_number" default="1"/>
  <arg name="input/mask0" default="/perception/object_recognition/detection/mask0"/>
  <arg name="input/camera_info0" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask1" default="/perception/object_recognition/detection/mask1"/>
  <arg name="input/camera_info1" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask2" default="/perception/object_recognition/detection/mask2"/>
  <arg name="input/camera_info2" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask3" default="/perception/object_recognition/detection/mask3"/>
  <arg name="input/camera_info3" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask4" default="/perception/object_recognition/detection/mask4"/>
  <arg name="input/camera_info4" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask5" default="/perception/object_recognition/detection/mask5"/>
  <arg name="input/camera_info5" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask6" default="/perception/object_recognition/detection/mask6"/>
  <arg name="input/camera_info6" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/mask7" default="/perception/object_recognition/detection/mask7"/>
  <arg name="input/camera_info7" default="/sensing/camera/camera0/camera_info"/>
  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
  <arg name="output/pointcloud" default="output/pointcloud"/>
  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
  <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
  <arg name="input/image0" default="/image_raw0"/>
  <arg name="input/image1" default="/image_raw1"/>
  <arg name="input/image2" default="/image_raw2"/>
  <arg name="input/image3" default="/image_raw3"/>
  <arg name="input/image4" default="/image_raw4"/>
  <arg name="input/image5" default="/image_raw5"/>
  <arg name="input/image6" default="/image_raw6"/>
  <arg name="input/image7" default="/image_raw7"/>
  <group>
    <node pkg="image_projection_based_fusion" exec="segmentation_pointcloud_fusion_node" name="segmentation_pointcloud_fusion" output="screen">
      <param name="rois_number" value="$(var input/camera_number)"/>
      <param from="$(var semantic_segmentation_based_filter_param_path)"/>
      <param from="$(var sync_param_path)"/>
      <remap from="input" to="$(var input/pointcloud)"/>
      <remap from="output" to="$(var output/pointcloud)"/>

      <!-- rois, camera and info -->
      <param name="input/rois0" value="$(var input/mask0)"/>
      <param name="input/camera_info0" value="$(var input/camera_info0)"/>
      <param name="input/image0" value="$(var input/image0)"/>
      <param name="input/rois1" value="$(var input/mask1)"/>
      <param name="input/camera_info1" value="$(var input/camera_info1)"/>
      <param name="input/image1" value="$(var input/image1)"/>
      <param name="input/rois2" value="$(var input/mask2)"/>
      <param name="input/camera_info2" value="$(var input/camera_info2)"/>
      <param name="input/image2" value="$(var input/image2)"/>
      <param name="input/rois3" value="$(var input/mask3)"/>
      <param name="input/camera_info3" value="$(var input/camera_info3)"/>
      <param name="input/image3" value="$(var input/image3)"/>
      <param name="input/rois4" value="$(var input/mask4)"/>
      <param name="input/camera_info4" value="$(var input/camera_info4)"/>
      <param name="input/image4" value="$(var input/image4)"/>
      <param name="input/rois5" value="$(var input/mask5)"/>
      <param name="input/camera_info5" value="$(var input/camera_info5)"/>
      <param name="input/image5" value="$(var input/image5)"/>
      <param name="input/rois6" value="$(var input/mask6)"/>
      <param name="input/camera_info6" value="$(var input/camera_info6)"/>
      <param name="input/image6" value="$(var input/image6)"/>
      <param name="input/rois7" value="$(var input/mask7)"/>
      <param name="input/camera_info7" value="$(var input/camera_info7)"/>
      <param name="input/image7" value="$(var input/image7)"/>
    </node>
  </group>
</launch>