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<?xml version="1.0" encoding="utf-8"?>

<launch>



<arg name="launch_prefix" default=""/>



<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"/>



<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/ros.yaml"/>

<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov2-tiny.yaml"/>



<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:=/raspicam_node/image raw out:=/camera/rgb/image_raw" />

</launch>

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&lt;?xml version=&quot;1.0&quot; encoding=&quot;utf-8&quot;?&gt;

&lt;launch&gt;
  &lt;!-- Console launch prefix --&gt;
  &lt;arg name=&quot;launch_prefix&quot; default=&quot;&quot;/&gt;

&lt;!-- Config and weights folder. --&gt;
  &lt;arg name=&quot;yolo_weights_path&quot;          default=&quot;$(find darknet_ros)/yolo_network_config/weights&quot;/&gt;
  &lt;arg name=&quot;yolo_config_path&quot;           default=&quot;$(find darknet_ros)/yolo_network_config/cfg&quot;/&gt;

&lt;!-- Load parameters --&gt;
  &lt;rosparam command=&quot;load&quot; ns=&quot;darknet_ros&quot; file=&quot;$(find darknet_ros)/config/ros.yaml&quot;/&gt;
  &lt;rosparam command=&quot;load&quot; ns=&quot;darknet_ros&quot; file=&quot;$(find darknet_ros)/config/yolov2-tiny.yaml&quot;/&gt;

&lt;!-- Start darknet and ros wrapper --&gt;
  &lt;node pkg=&quot;darknet_ros&quot; type=&quot;darknet_ros&quot; name=&quot;darknet_ros&quot; output=&quot;screen&quot; launch-prefix=&quot;$(arg launch_prefix)&quot;&gt;
    &lt;param name=&quot;weights_path&quot;          value=&quot;$(arg yolo_weights_path)&quot; /&gt;
    &lt;param name=&quot;config_path&quot;           value=&quot;$(arg yolo_config_path)&quot; /&gt;
  &lt;/node&gt;

&lt;!-- Republish images--&gt; 
 &lt;node name=&quot;republish&quot; type=&quot;republish&quot; pkg=&quot;image_transport&quot; output=&quot;screen&quot; 	args=&quot;compressed in:=/raspicam_node/image raw out:=/camera/rgb/image_raw&quot; /&gt;
&lt;/launch&gt;

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