launch debug

Signed-off-by: Owen-Liuyuxuan <[email protected]>
Owen-Liuyuxuan · Nov 6, 2023 · 39da711 · 39da711
1 parent 72f136d
commit 39da711
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/launch/detect_seg_depth.launch.xml b/launch/detect_seg_depth.launch.xml
@@ -1,20 +1,19 @@
 <?xml version="1.0"?>
 <launch>
  <let name="mono3d_flag" value="true"/>
- <let name="mono3d_ckpt_file" value="/home/yliuhb/vision_collection/model/det3d/mono3d.onnx"/>
+ <let name="mono3d_ckpt_file" value="/home/yliuhb/vision_collection/model/det3d/mono3d_yolox_576_768.onnx"/>
 
  <let name="seg_flag" value="true"/>
  <let name="seg_ckpt_file" value="/home/yliuhb/vision_collection/model/segmentation/bisenetv1.onnx"/>
 
  <let name="monodepth_flag" value="true"/>
  <let name="monodepth_ckpt_file" value="/home/yliuhb/vision_collection/model/monodepth/monodepth_res101_384_1280.onnx"/>
 
- <let name="camera_topic" value="/kitti360/left_camera/image"/>
- <let name="camera_param" value="/kitti360/left_camera/camera_info"/>
+ <let name="camera_topic" value="/nuscenes/CAM_FRONT/image"/>
+ <let name="camera_param" value="/nuscenes/CAM_FRONT/camera_info"/>
  <let name="bbox_topic" value="/bboxes"/>
 
  <node pkg="ros2_vision_inference" exec="vision_inference_node" name="vision_inference" output="screen">
- <param name="VIS_FAC_PATH" value="$(var vision_factory)"/>
  <param name="MONO3D_FLAG" value="$(var mono3d_flag)"/>
  <param name="MONO3D_CKPT_FILE" value="$(var mono3d_ckpt_file)"/>