1. <?xml version="1.0" encoding="utf-8"?>
2.  
3. <launch>
4.   <!-- Console launch prefix -->
5.   <arg name="launch_prefix" default=""/>
6.  
7.   <!-- Config and weights folder. -->
8.   <arg name="yolo_weights_path"          default="$(find darknet_ros)/yolo_network_config/weights"/>
9.   <arg name="yolo_config_path"           default="$(find darknet_ros)/yolo_network_config/cfg"/>
10.  
11.   <!-- Load parameters -->
12.   <rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/ros.yaml"/>
13.   <rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov2-tiny.yaml"/>
14.  
15.   <!-- Start darknet and ros wrapper -->
16.   <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">
17.     <param name="weights_path"          value="$(arg yolo_weights_path)" />
18.     <param name="config_path"           value="$(arg yolo_config_path)" />
19.   </node>
20.  
21.  <!-- Republish images-->
22.  <node name="republish" type="republish" pkg="image_transport" output="screen"  args="compressed in:=/raspicam_node/image raw out:=/camera/rgb/image_raw" />
23. </launch>