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update launch
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‎yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py‎

Lines changed: 105 additions & 99 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,19 @@
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import os
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import sys
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# Copyright 2023 Ar-Ray-code
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import launch
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import launch_ros.actions
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer
@@ -10,141 +22,135 @@
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def generate_launch_description():
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launch_args = [
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DeclareLaunchArgument(
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"video_device",
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default_value="/dev/video0",
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description="input video source"
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'video_device',
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default_value='/dev/video0',
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description='input video source'
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),
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DeclareLaunchArgument(
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"model_path",
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default_value="./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx",
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description="yolox model path."
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'model_path',
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default_value='./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx',
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description='yolox model path.'
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),
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DeclareLaunchArgument(
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"p6",
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default_value="false",
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description="with p6."
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'p6',
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default_value='false',
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description='with p6.'
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),
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DeclareLaunchArgument(
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"class_labels_path",
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default_value="''",
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description="if use custom model, set class name labels. "
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'class_labels_path',
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default_value='',
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description='if use custom model, set class name labels. '
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),
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DeclareLaunchArgument(
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"num_classes",
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default_value="80",
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description="num classes."
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'num_classes',
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default_value='80',
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description='num classes.'
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),
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DeclareLaunchArgument(
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"model_version",
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default_value="0.1.1rc0",
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description="yolox model version."
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'model_version',
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default_value='0.1.1rc0',
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description='yolox model version.'
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),
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DeclareLaunchArgument(
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"onnxruntime/use_cuda",
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default_value="true",
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description="onnxruntime use cuda."
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'onnxruntime/use_cuda',
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default_value='true',
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description='onnxruntime use cuda.'
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),
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DeclareLaunchArgument(
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"onnxruntime/device_id",
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default_value="0",
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description="onnxruntime gpu device id."
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'onnxruntime/device_id',
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default_value='0',
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description='onnxruntime gpu device id.'
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),
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DeclareLaunchArgument(
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"onnxruntime/use_parallel",
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default_value="false",
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description="if use_parallel is true, you can set inter_op_num_threads."
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'onnxruntime/use_parallel',
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default_value='false',
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description='if use_parallel is true, you can set inter_op_num_threads.'
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),
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DeclareLaunchArgument(
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"onnxruntime/inter_op_num_threads",
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default_value="1",
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description="control the number of threads used to parallelize the execution of the graph (across nodes)."
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'onnxruntime/inter_op_num_threads',
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default_value='1'
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),
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DeclareLaunchArgument(
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"onnxruntime/intra_op_num_threads",
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default_value="1",
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description="ontrols the number of threads to use to run the model."
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'onnxruntime/intra_op_num_threads',
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default_value='1',
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description='ontrols the number of threads to use to run the model.'
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),
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DeclareLaunchArgument(
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"conf",
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default_value="0.30",
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description="yolox confidence threshold."
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'conf',
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default_value='0.30',
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description='yolox confidence threshold.'
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),
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DeclareLaunchArgument(
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"nms",
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default_value="0.45",
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description="yolox nms threshold"
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'nms',
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default_value='0.45',
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description='yolox nms threshold'
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),
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DeclareLaunchArgument(
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"imshow_isshow",
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default_value="true",
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description=""
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'imshow_isshow',
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default_value='true',
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description=''
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),
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DeclareLaunchArgument(
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"src_image_topic_name",
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default_value="/image_raw",
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description="topic name for source image"
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'src_image_topic_name',
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default_value='/image_raw',
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description='topic name for source image'
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),
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DeclareLaunchArgument(
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"publish_image_topic_name",
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default_value="/yolox/image_raw",
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description="topic name for publishing image with bounding box drawn"
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'publish_image_topic_name',
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default_value='/yolox/image_raw',
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description='topic name for publishing image with bounding box drawn'
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),
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DeclareLaunchArgument(
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"publish_boundingbox_topic_name",
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default_value="/yolox/bounding_boxes",
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description="topic name for publishing bounding box message."
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'publish_boundingbox_topic_name',
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default_value='/yolox/bounding_boxes',
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description='topic name for publishing bounding box message.'
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),
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]
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container = ComposableNodeContainer(
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name='yolox_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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ComposableNode(
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package='v4l2_camera',
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plugin='v4l2_camera::V4L2Camera',
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name='v4l2_camera',
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parameters=[{
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"video_device": LaunchConfiguration("video_device"),
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"image_size": [640,480]
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}]),
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ComposableNode(
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package='yolox_ros_cpp',
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plugin='yolox_ros_cpp::YoloXNode',
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name='yolox_ros_cpp',
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parameters=[{
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"model_path": LaunchConfiguration("model_path"),
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"p6": LaunchConfiguration("p6"),
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"class_labels_path": LaunchConfiguration("class_labels_path"),
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"num_classes": LaunchConfiguration("num_classes"),
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"model_type": "onnxruntime",
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"model_version": LaunchConfiguration("model_version"),
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"onnxruntime/use_cuda": LaunchConfiguration("onnxruntime/use_cuda"),
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"onnxruntime/device_id": LaunchConfiguration("onnxruntime/device_id"),
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"onnxruntime/use_parallel": LaunchConfiguration("onnxruntime/use_parallel"),
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"onnxruntime/inter_op_num_threads": LaunchConfiguration("onnxruntime/inter_op_num_threads"),
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"onnxruntime/intra_op_num_threads": LaunchConfiguration("onnxruntime/intra_op_num_threads"),
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"conf": LaunchConfiguration("conf"),
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"nms": LaunchConfiguration("nms"),
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"imshow_isshow": LaunchConfiguration("imshow_isshow"),
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"src_image_topic_name": LaunchConfiguration("src_image_topic_name"),
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"publish_image_topic_name": LaunchConfiguration("publish_image_topic_name"),
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"publish_boundingbox_topic_name": LaunchConfiguration("publish_boundingbox_topic_name"),
134-
}],
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),
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],
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output='screen',
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)
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140-
rqt = launch_ros.actions.Node(
141-
package="rqt_graph", executable="rqt_graph",
110+
name='yolox_container',
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namespace='',
112+
package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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ComposableNode(
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package='v4l2_camera',
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plugin='v4l2_camera::V4L2Camera',
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name='v4l2_camera',
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parameters=[{
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'video_device': LaunchConfiguration('video_device'),
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'image_size': [640, 480]
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}]),
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ComposableNode(
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package='yolox_ros_cpp',
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plugin='yolox_ros_cpp::YoloXNode',
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name='yolox_ros_cpp',
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parameters=[{
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'model_path': LaunchConfiguration('model_path'),
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'p6': LaunchConfiguration('p6'),
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'class_labels_path': LaunchConfiguration('class_labels_path'),
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'num_classes': LaunchConfiguration('num_classes'),
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'model_type': 'onnxruntime',
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'model_version': LaunchConfiguration('model_version'),
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'onnxruntime/use_cuda': LaunchConfiguration('onnxruntime/use_cuda'),
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'onnxruntime/device_id': LaunchConfiguration('onnxruntime/device_id'),
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'onnxruntime/use_parallel': LaunchConfiguration('onnxruntime/use_parallel'),
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'onnxruntime/inter_op_num_threads': LaunchConfiguration('onnxruntime/inter_op_num_threads'),
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'onnxruntime/intra_op_num_threads': LaunchConfiguration('onnxruntime/intra_op_num_threads'),
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'conf': LaunchConfiguration('conf'),
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'nms': LaunchConfiguration('nms'),
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'imshow_isshow': LaunchConfiguration('imshow_isshow'),
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'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
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'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
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'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
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}],
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),
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],
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output='screen',
142149
)
143150

144151
return launch.LaunchDescription(
145152
launch_args +
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[
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container,
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# rqt_graph,
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container
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]
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)

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