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removed 0rb-slam from launch file
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mmahdavian committed Aug 8, 2021
1 parent 39ab5d3 commit 2fd2855
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Showing 2 changed files with 33 additions and 3 deletions.
6 changes: 3 additions & 3 deletions darknet_ros/launch/yolo_v3.launch
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Expand Up @@ -21,10 +21,10 @@
<!-- <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" />
<!-- <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="$(find turtlebot_bringup)/launch/minimal.launch"> </include>
<node pkg="visualize_map" type="visualize_map_node" name="visual" />
<include file="$(find turtlebot_bringup)/launch/minimal.launch"> </include> -->
<node pkg="semantic_visual_teach_repeat" type="visualizer" name="visual" />
<node pkg="rviz" type="rviz" name="show_visual" />

</launch>
30 changes: 30 additions & 0 deletions darknet_ros/launch/yolo_v3_mine.launch
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<?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>

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