update launch.py

Author: Ar-Ray-code

README.md

@@ -10,9 +10,9 @@
 
 | Base            | ROS2 C++ | ROS2 Python |
 | --------------- | -------- | ----------- |
-| CPU             |           | ✅           |
-| CUDA            |           | ✅           |
-| CUDA (FP16)     |           | ✅           |
+| PyTorch         |           | ✅           |
+| PyTorch(CUDA)   |           | ✅           |
+| PyTorch(CUDA-FP16) |           | ✅           |
 | TensorRT (CUDA) |  ✅       |              |
 | OpenVINO        |  ✅       | ✅           |
 | ONNX Runtime    |           | ✅           |

…lox_ros_py/launch/yolox_tflite.launch.py …aunch/yolox_lite_tflite_camera.launch.pyyolox_ros_py/launch/yolox_tflite.launch.py renamed to yolox_ros_py/launch/yolox_lite_tflite_camera.launch.py yolox_ros_py/launch/yolox_tflite.launch.py renamed to yolox_ros_py/launch/yolox_lite_tflite_camera.launch.py

@@ -0,0 +1,58 @@
+from matplotlib import image
+import launch
+import launch_ros.actions
+from launch.actions import DeclareLaunchArgument
+from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+from urllib.request import urlretrieve
+import os
+
+def generate_launch_description():
+    yolox_ros_share_dir = get_package_share_directory('yolox_ros_py')
+
+    dog_path = os.path.join(yolox_ros_share_dir, "./", "dog.jpg")
+    url = "https://raw.githubusercontent.com/pjreddie/darknet/master/data/dog.jpg"
+    if not os.path.exists(dog_path):
+        os.system("wget {} -O {}".format(url, dog_path))
+
+
+    image_path = LaunchConfiguration('image_path', default=dog_path)
+    image_path_arg = DeclareLaunchArgument(
+        'image_path',
+        default_value=dog_path,
+        description='Image path'
+    )
+
+    image_pub = launch_ros.actions.Node(
+        package='image_publisher',
+        executable='image_publisher_node',
+        name='image_publisher',
+        arguments=[image_path],
+    )
+    yolox_onnx = launch_ros.actions.Node(
+        package="yolox_ros_py", executable="yolox_onnx",output="screen",
+        parameters=[
+            {"image_size/width": 640},
+            {"image_size/height": 480},
+            
+            {"input_shape/width": 416},
+            {"input_shape/height": 416},
+
+            {"with_p6" : False},
+            {"model_path" : yolox_ros_share_dir+"/yolox_nano.onnx"},
+            {"conf" : 0.3},
+        ],
+    )
+
+    rqt_graph = launch_ros.actions.Node(
+        package="rqt_graph", executable="rqt_graph",
+    )
+
+    return launch.LaunchDescription([
+        image_path_arg,
+        image_pub,
+        yolox_onnx,
+        # rqt_graph
+    ])

…_ros_py/launch/yolox_nano_onnx.launch.py …/launch/yolox_nano_onnx_camera.launch.pyyolox_ros_py/launch/yolox_nano_onnx.launch.py renamed to yolox_ros_py/launch/yolox_nano_onnx_camera.launch.py yolox_ros_py/launch/yolox_nano_onnx.launch.py renamed to yolox_ros_py/launch/yolox_nano_onnx_camera.launch.py

@@ -7,7 +7,6 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 import launch_ros
 
-
 def generate_launch_description():
     yolox_ros_share_dir = get_package_share_directory('yolox_ros_py')
     youtube_publisher_share_dir = get_package_share_directory('youtube_publisher')

yolox_ros_py/launch/yolox_nano_onnx_picture.launch.py

@@ -5,9 +5,6 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
-from urllib.request import urlretrieve
-import os
-
 def generate_launch_description():
     yolox_ros_share_dir = get_package_share_directory('yolox_ros_py')