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my_launch.launch
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<launch>
<!-- Setting of this launch file -->
<arg name="model_path" default="/home/kemo/Documents/实习/vehicle_model.urdf" />
<arg name="pfe_onnx_path" default="/home/kemo/Documents/实习/weights/pfe.onnx" />
<arg name="rpn_onnx_path" default="/home/kemo/Documents/实习/weights/rpn.onnx" />
<arg name="pretrained_model_file" default="/home/kemo/Documents/实习/weights/yolov3.weights"/>
<arg name="yolo_score_threshold" default="0.5" />
<arg name="yolo_nms_threshold" default="0.45" />
<arg name="pp_score_threshold" default="0.7" />
<arg name="pp_nms_overlap_threshold" default="0.5" />
<!-- TF -->
<node pkg="tf" type="static_transform_publisher" name="pandar_to_world" args="0 0 0 0 0 0 /pandar /world 100" />
<node pkg="tf" type="static_transform_publisher" name="world_to_baselink" args="0 0 0 0 0 0 /world /base_link 10" />
<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 100" />
<node pkg="tf" type="static_transform_publisher" name="pandar_to_velodyne" args="0 0 0 0 0 0 /pandar /velodyne 100" />
<!-- Vehicle -->
<include file="$(find vehicle_description)/launch/vehicle_model.launch">
<arg name="model_path" value="$(arg model_path)" />
</include>
<!-- YOLOv3 -->
<include file="$(find vision_darknet_detect)/launch/vision_yolo3_detect.launch">
<arg name="pretrained_model_file" value="$(arg pretrained_model_file)" />
<arg name="score_threshold" value="$(arg yolo_score_threshold)" />
<arg name="nms_threshold" value="$(arg yolo_nms_threshold)" />
</include>
<!-- PointPillars -->
<include file="$(find lidar_point_pillars)/launch/lidar_point_pillars.launch">
<arg name="baselink_support" value="false" />
<arg name="reproduce_result_mode" value="false" />
<arg name="score_threshold" value="$(arg pp_score_threshold)" />
<arg name="nms_overlap_threshold" value="$(arg pp_nms_overlap_threshold)" />
<arg name="pfe_onnx_file" value="$(arg pfe_onnx_path)"/>
<arg name="rpn_onnx_file" value="$(arg rpn_onnx_path)"/>
</include>
</launch>