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Diffstat (limited to 'nodes/ti_estop/launch/estop.launch')
-rw-r--r--nodes/ti_estop/launch/estop.launch42
1 files changed, 42 insertions, 0 deletions
diff --git a/nodes/ti_estop/launch/estop.launch b/nodes/ti_estop/launch/estop.launch
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1<launch>
2 <!-- openVX Estop graph node -->
3 <node pkg = "ti_estop" type = "estop" name = "estop" output = "screen" args = "" required = "true">
4
5 <!-- Configuration file for the openVX CNN graph -->
6 <rosparam file="$(find ti_estop)/config/params.yaml" subst_value="true" />
7
8 <!-- Left input topic name to subscribe to -->
9 <param name = "left_input_topic_name" value = "camera/left/image_raw"/>
10
11 <!-- Right input topic name to subscribe to -->
12 <param name = "right_input_topic_name" value = "camera/right/image_raw"/>
13
14 <!-- Right camera parameter topic name to subscribe to -->
15 <param name = "camera_info_topic" value = "camera/right/camera_info"/>
16
17 <!-- Output topic name to publish to -->
18 <param name = "semseg_cnn_out_image" value = "semseg_cnn/out_image"/>
19
20 <!-- Output topic name to publish to -->
21 <param name = "semseg_cnn_tensor_topic" value = "semseg_cnn/tensor"/>
22
23 <!-- Output recitified image topic name to publish to -->
24 <param name = "rectified_image_topic" value = "camera/right/image_rect_mono"/>
25
26 <!-- Output bounding box topic name to publish to -->
27 <param name = "bounding_box_topic" value = "detection3D/3dBB"/>
28
29 <!-- Output disparit topic name to publish to -->
30 <param name = "raw_disparity_topic_name" value = "camera/disparity/raw"/>
31
32 <!-- Output OG map topic name to publish to -->
33 <param name = "ogmap_topic_name" value = "detection3D/ogmap"/>
34
35 <!-- Output EStop topic name to publish to -->
36 <param name = "estop_topic_name" value = "detection3D/estop"/>
37
38 <!-- Flag to indcate if the output should be published in RGB format -->
39 <param name = "ssmap_output_rgb" value = "true"/>
40 </node>
41
42</launch>