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Merge pull request leggedrobotics#141 from lorenwel/feature/launch_fi…
…le_arg Added arg for launch file parameter files
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<?xml version="1.0" encoding="utf-8"?> | ||
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<launch> | ||
<!-- Console launch prefix --> | ||
<arg name="launch_prefix" default=""/> | ||
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<!-- Use YOLOv3 --> | ||
<arg name="network_param_file" default="$(find darknet_ros)/config/yolov3.yaml"/> | ||
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<!-- Config and weights folder. --> | ||
<arg name="yolo_weights_path" default="$(find darknet_ros)/yolo_network_config/weights"/> | ||
<arg name="yolo_config_path" default="$(find darknet_ros)/yolo_network_config/cfg"/> | ||
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<!-- Load parameters --> | ||
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/ros.yaml"/> | ||
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov3.yaml"/> | ||
<!-- Include main launch file --> | ||
<include file="$(find darknet_ros)/launch/darknet_ros.launch"> | ||
<arg name="network_param_file" value="$(arg network_param_file)"/> | ||
</include> | ||
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<!-- Start darknet and ros wrapper --> | ||
<node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)"> | ||
<param name="weights_path" value="$(arg yolo_weights_path)" /> | ||
<param name="config_path" value="$(arg yolo_config_path)" /> | ||
</node> | ||
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<!--<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> --> | ||
</launch> |