Adapted yolo_v3.launch to new launch file

scmwang · Jan 9, 2019 · 156b6a5 · 156b6a5
1 parent face8c4
commit 156b6a5
Showing 1 changed file with 12 additions and 9 deletions.
diff --git 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>