58 lines
2.3 KiB
XML
58 lines
2.3 KiB
XML
<launch>
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<!-- Detection configuration -->
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<arg name="weights" default="$(find yolov5_ros)/src/yolov5/best.pt"/>
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<arg name="data" default="$(find yolov5_ros)/src/yolov5/data/mydata.yaml"/>
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<arg name="confidence_threshold" default="0.70"/>
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<arg name="iou_threshold" default="0.45"/>
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<arg name="maximum_detections" default="1000"/>
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<arg name="device" default="0"/>
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<arg name="agnostic_nms" default="true"/>
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<arg name="line_thickness" default="3"/>
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<arg name="dnn" default="true"/>
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<arg name="half" default="false"/>
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<!-- replace imgsz -->
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<arg name="inference_size_h" default="640"/>
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<arg name="inference_size_w" default="640"/>
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<!-- Visualize using OpenCV window -->
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<arg name="view_image" default="false"/>
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<!-- ROS topics -->
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<arg name="input_image_topic" default="/camera/color/image_raw"/>
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<arg name="output_topic" default="/yolov5/detections"/>
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<!-- Optional topic (publishing annotated image) -->
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<arg name="publish_image" default="true"/>
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<arg name="output_image_topic" default="/yolov5/image_out"/>
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<node pkg="yolov5_ros" name="detect" type="detect.py" output="screen">
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<param name="weights" value="$(arg weights)"/>
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<param name="data" value="$(arg data)"/>
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<param name="confidence_threshold" value="$(arg confidence_threshold)"/>
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<param name="iou_threshold" value="$(arg iou_threshold)" />
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<param name="maximum_detections" value="$(arg maximum_detections)"/>
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<param name="device" value="$(arg device)" />
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<param name="agnostic_nms" value="$(arg agnostic_nms)" />
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<param name="line_thickness" value="$(arg line_thickness)"/>
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<param name="dnn" value="$(arg dnn)"/>
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<param name="half" value="$(arg half)"/>
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<param name="inference_size_h" value="$(arg inference_size_h)"/>
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<param name="inference_size_w" value="$(arg inference_size_w)"/>
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<param name="input_image_topic" value="$(arg input_image_topic)"/>
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<param name="output_topic" value="$(arg output_topic)"/>
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<param name="view_image" value="$(arg view_image)"/>
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<param name="publish_image" value="$(arg publish_image)"/>
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<param name="output_image_topic" value="$(arg output_image_topic)"/>
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</node>
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<include file="$(find realsense2_camera)/launch/my_camera.launch" >
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</include>
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</launch>
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