add new params and support usb_cam instead of v4l2_camera

Author: Ar-Ray-code

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py

@@ -105,6 +105,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -113,12 +123,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -142,6 +152,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
                 ),
         ],

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_openvino.launch.py

@@ -71,6 +71,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -79,12 +89,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -104,6 +114,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
                 ),
         ],

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tensorrt.launch.py

@@ -72,6 +72,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -80,14 +90,13 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
-                }]
-            ),
+                    'brightness': 100
+                }]),
             ComposableNode(
                 package='yolox_ros_cpp',
                 plugin='yolox_ros_cpp::YoloXNode',
@@ -106,6 +115,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
             ),
         ],

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tflite.launch.py

@@ -77,6 +77,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -85,12 +95,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -111,6 +121,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
             ),
         ],