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From Reliable Capybara, 1 Week ago, written in Plain Text.
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  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>