Update launch file for 3 cameras (#74)

* Update launch file for 3 cameras

* Rename to eve

* Fix Linting

modules/docker-compose.perception.yaml

@@ -28,7 +28,7 @@ services:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
-    command: /bin/bash -c "ros2 launch camera_object_detection nuscenes_launch.py"
+    command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
     volumes:
       - /mnt/wato-drive2/perception_models/yolov8s.pt:/perception_models/yolov8s.pt
 

src/perception/camera_object_detection/config/eve_config.yaml

@@ -0,0 +1,23 @@
+left_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/left/image_color
+    publish_vis_topic: /camera/left/annotated_img
+    publish_detection_topic: /camera/left/detections
+    model_path: /perception_models/yolov8s.pt
+    image_size: 480
+
+center_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/center/image_color
+    publish_vis_topic: /camera/center/annotated_img
+    publish_detection_topic: /camera/center/detections
+    model_path: /perception_models/yolov8s.pt
+    image_size: 480
+
+right_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/right/image_color
+    publish_vis_topic: /camera/right/annotated_img
+    publish_detection_topic: /camera/right/detections
+    model_path: /perception_models/yolov8s.pt
+    image_size: 480

src/perception/camera_object_detection/launch/eve_launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    config = os.path.join(
+        get_package_share_directory('camera_object_detection'),
+        'config',
+        'eve_config.yaml'
+    )
+
+    # nodes
+    left_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='left_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    center_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='center_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    right_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='right_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    # finalize
+    ld.add_action(left_camera_object_detection_node)
+    ld.add_action(center_camera_object_detection_node)
+    ld.add_action(right_camera_object_detection_node)
+
+    return ld