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Diffstat (limited to 'nodes/ti_estop/launch/estop.launch')
-rw-r--r-- | nodes/ti_estop/launch/estop.launch | 42 |
1 files changed, 42 insertions, 0 deletions
diff --git a/nodes/ti_estop/launch/estop.launch b/nodes/ti_estop/launch/estop.launch new file mode 100644 index 0000000..ada70dd --- /dev/null +++ b/nodes/ti_estop/launch/estop.launch | |||
@@ -0,0 +1,42 @@ | |||
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> | ||