From face8c494089e5191c22d27934909b4c09365c01 Mon Sep 17 00:00:00 2001
From: lorenwel <lorenwel@ethz.ch>
Date: Wed, 9 Jan 2019 13:43:40 +0100
Subject: [PATCH 1/4] Added launch file arguments for parameter files

---
 darknet_ros/launch/darknet_ros.launch | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/darknet_ros/launch/darknet_ros.launch b/darknet_ros/launch/darknet_ros.launch
index 621d367fd..76bacfd91 100644
--- a/darknet_ros/launch/darknet_ros.launch
+++ b/darknet_ros/launch/darknet_ros.launch
@@ -8,9 +8,13 @@
   <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"/>
 
+  <!-- ROS and network parameter files -->
+  <arg name="ros_param_file"             default="$(find darknet_ros)/config/ros.yaml"/>
+  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov2-tiny.yaml"/>
+
   <!-- 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/yolov2-tiny.yaml"/>
+  <rosparam command="load" ns="darknet_ros" file="$(arg ros_param_file)"/>
+  <rosparam command="load" ns="darknet_ros" file="$(arg network_param_file)"/>
 
   <!-- Start darknet and ros wrapper -->
   <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">

From 156b6a5e3acc66e56bb23c21e50acaa8ef3d6ddc Mon Sep 17 00:00:00 2001
From: lorenwel <lorenwel@ethz.ch>
Date: Wed, 9 Jan 2019 13:48:16 +0100
Subject: [PATCH 2/4] Adapted yolo_v3.launch to new launch file

---
 darknet_ros/launch/yolo_v3.launch | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/darknet_ros/launch/yolo_v3.launch b/darknet_ros/launch/yolo_v3.launch
index 7bac4f87a..68d91b3e2 100644
--- a/darknet_ros/launch/yolo_v3.launch
+++ b/darknet_ros/launch/yolo_v3.launch
@@ -8,15 +8,18 @@
   <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"/>
 
-  <!-- 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"/>
+  <!-- ROS and network parameter files -->
+  <arg name="ros_param_file"             default="$(find darknet_ros)/config/ros.yaml"/>
+  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/>
 
-  <!-- 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>
 
- <!--<node name="republish" type="republish" pkg="image_transport" output="screen" 	args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> -->
+  <!-- Include main launch file -->
+  <include file="$(find darknet_ros)/launch/darknet_ros.launch">
+    <arg name="launch_prefix"         value="$(arg launch_prefix)"
+    <arg name="yolo_weights_path"     value="$(arg yolo_weights_path)"
+    <arg name="yolo_config_path"      value="$(arg yolo_config_path)"
+    <arg name="ros_param_file"        value="$(arg ros_param_file)"
+    <arg name="network_param_file"    value="$(arg network_param_file)"
+  </include>
+
 </launch>

From be80c2a978dc5a776796705697bbff1b9bdbffac Mon Sep 17 00:00:00 2001
From: lorenwel <lorenwel@ethz.ch>
Date: Wed, 9 Jan 2019 13:52:11 +0100
Subject: [PATCH 3/4] Removed unnecessary args

---
 darknet_ros/launch/yolo_v3.launch | 15 ++-------------
 1 file changed, 2 insertions(+), 13 deletions(-)

diff --git a/darknet_ros/launch/yolo_v3.launch b/darknet_ros/launch/yolo_v3.launch
index 68d91b3e2..a41bb9fd8 100644
--- a/darknet_ros/launch/yolo_v3.launch
+++ b/darknet_ros/launch/yolo_v3.launch
@@ -1,24 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 
 <launch>
-  <!-- Console launch prefix -->
-  <arg name="launch_prefix" default=""/>
-
-  <!-- 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"/>
-
-  <!-- ROS and network parameter files -->
-  <arg name="ros_param_file"             default="$(find darknet_ros)/config/ros.yaml"/>
+  
+  <!-- Use YOLOv3 -->
   <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/>
 
 
   <!-- Include main launch file -->
   <include file="$(find darknet_ros)/launch/darknet_ros.launch">
-    <arg name="launch_prefix"         value="$(arg launch_prefix)"
-    <arg name="yolo_weights_path"     value="$(arg yolo_weights_path)"
-    <arg name="yolo_config_path"      value="$(arg yolo_config_path)"
-    <arg name="ros_param_file"        value="$(arg ros_param_file)"
     <arg name="network_param_file"    value="$(arg network_param_file)"
   </include>
 

From d31f3504f20618797ad9fbbc3f2ec9d379146ee1 Mon Sep 17 00:00:00 2001
From: Lorenz Wellhausen <lorenwel@ethz.ch>
Date: Wed, 9 Jan 2019 14:07:24 +0100
Subject: [PATCH 4/4] Fixed synatx error

---
 darknet_ros/launch/yolo_v3.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/darknet_ros/launch/yolo_v3.launch b/darknet_ros/launch/yolo_v3.launch
index a41bb9fd8..ed9591a2d 100644
--- a/darknet_ros/launch/yolo_v3.launch
+++ b/darknet_ros/launch/yolo_v3.launch
@@ -8,7 +8,7 @@
 
   <!-- Include main launch file -->
   <include file="$(find darknet_ros)/launch/darknet_ros.launch">
-    <arg name="network_param_file"    value="$(arg network_param_file)"
+    <arg name="network_param_file"    value="$(arg network_param_file)"/>
   </include>
 
 </launch>