forked from leggedrobotics/darknet_ros
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
39ab5d3
commit 2fd2855
Showing
2 changed files
with
33 additions
and
3 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,30 @@ | ||
<?xml version="1.0" encoding="utf-8"?> | ||
|
||
<launch> | ||
|
||
<!-- Use YOLOv3 --> | ||
<arg name="network_param_file" default="$(find darknet_ros)/config/yolov3.yaml"/> | ||
<arg name="image" default="camera/image_raw" /> | ||
|
||
<!-- Include main launch file --> | ||
<include file="$(find darknet_ros)/launch/darknet_ros_2.launch"> | ||
<arg name="network_param_file" value="$(arg network_param_file)"/> | ||
<arg name="image" value="$(arg image)" /> | ||
</include> | ||
|
||
<node pkg="topic_tools" type="relay" name="relay1" args="/zed2/zed_node/left/image_rect_color /camera/image_raw" /> | ||
<node pkg="topic_tools" type="relay" name="relay2" args="/zed2/zed_node/left/image_rect_color /camera/rgb/image_raw" /> | ||
<node pkg="topic_tools" type="relay" name="relay3" args="/zed2/zed_node/imu/data /imu" /> | ||
<node pkg="topic_tools" type="relay" name="relay4" args="/camera/image_raw /camera/rgb/image_raw" /> | ||
|
||
|
||
<!-- <include file="$(find zed_wrapper)/launch/ZED2_yolo.launch"> </include> --> | ||
|
||
|
||
<node pkg="ORB_SLAM3" type="Mono" name="Mono" args="/home/mohammad/Mohammad_ws/ORB-SLAM/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/mohammad/Mohammad_ws/ORB-SLAM/ORB_SLAM3/Examples/Monocular/ZED2.yaml" /> | ||
|
||
<include file="$(find turtlebot_bringup)/launch/minimal.launch"> </include> | ||
<node pkg="visualize_map" type="visualize_map_node" name="visual" /> | ||
<node pkg="rviz" type="rviz" name="show_visual" /> | ||
|
||
</launch> |