34 lines
1.5 KiB
Python
34 lines
1.5 KiB
Python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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# SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
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# SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
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# # Launch arguments
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# DeclareLaunchArgument('object_prefix', default_value='testingggggg', description='TF prefix of objects.'),
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# DeclareLaunchArgument('rgb_topic', default_value='rgb_img', description='Image topic.'),
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# DeclareLaunchArgument('depth_topic', default_value='depth_img', description='Registered depth topic.'),
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# DeclareLaunchArgument('camera_info_topic', default_value='camera_info', description='Camera info topic.'),
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# DeclareLaunchArgument('bounding_box_topic', default_value='bboxes', description='Bouding box topic.'),
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# Nodes to launch
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Node(
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package='yolov3_msg', executable='detect_on_bag.py', output='screen',
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# parameters=[{
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# 'object_prefix':LaunchConfiguration('object_prefix'),
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# }],
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# remappings=[
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# ('rgb_img', LaunchConfiguration('rgb_topic')),
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# ('depth_img', LaunchConfiguration('depth_topic')),
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# ('camera_info', LaunchConfiguration('camera_info_topic'))]
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),
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])
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