yolox_tiny.launch.xml

<?xml version="1.0"?>
<launch>
  <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
  <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
  <arg name="model_name" default="yolox-tiny"/>
  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
  <arg name="use_decompress" default="true" description="use image decompress"/>
  <arg name="build_only" default="false" description="exit after trt engine is built"/>

  <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
    <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
    <remap from="~/output/raw_image" to="$(var input/image)"/>
  </node>

  <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
    <remap from="~/in/image" to="$(var input/image)"/>
    <remap from="~/out/objects" to="$(var output/objects)"/>
    <param from="$(var yolox_param_path)" allow_substs="true"/>
    <param name="build_only" value="$(var build_only)"/>
  </node>
</launch>