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Signed-off-by: Manato HIRABAYASHI <[email protected]>
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<launch> | ||
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" /> | ||
<arg name="jetson_id" default="$(env JETSON_ID 0)" /> | ||
<arg name="live_sensor" default="True" | ||
description="If true, camera drivers will be booted. Otherwise, image decompressor will be."/> | ||
<arg name="perception" default="True" | ||
description="If true, series of perception stack will be booted."/> | ||
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<include file="$(find-pkg-share edge_auto_jetson_launch)/launch/perception_jetson$(var jetson_id).launch.xml"> | ||
<arg name="vehicle_id" value="$(var vehicle_id)" /> | ||
<arg name="live_sensor" value="$(var live_sensor)" /> | ||
<arg name="perception" value="$(var perception)" /> | ||
</include> | ||
</launch> |
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edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
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<launch> | ||
<!-- image topic name to be subscribed --> | ||
<arg name="input/compressed_image" default="image_raw/compressed" /> | ||
<!-- image topic name to be published --> | ||
<arg name="output/raw_image" default="image_raw" /> | ||
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<!-- container naem that this ROS node to be loaded --> | ||
<arg name="container_name" default="" /> | ||
<!-- flag to use ROS2 intra process --> | ||
<arg name="use_intra_process" default="True" /> | ||
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<let name="empty_container_is_specified" value="$(eval 'not "$(var container_name)"')" /> | ||
<!-- If container name is not specified, | ||
execute function as an individual node --> | ||
<group if="$(var empty_container_is_specified)"> | ||
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor"> | ||
<remap from="~/input/compressed_image" to="$(var input/compressed_image)" /> | ||
<remap from="~/output/raw_image" to="$(var output/raw_image)" /> | ||
</node> | ||
</group> | ||
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<!-- If container name is specified, | ||
execute function as a composable node and load it into the container --> | ||
<group unless="$(var empty_container_is_specified)"> | ||
<load_composable_node target="$(var container_name)"> | ||
<composable_node pkg="image_transport_decompressor" plugin="image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor"> | ||
<remap from="~/input/compressed_image" to="$(var input/compressed_image)" /> | ||
<remap from="~/output/raw_image" to="$(var output/raw_image)" /> | ||
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" /> | ||
</composable_node> | ||
</load_composable_node> | ||
</group> | ||
</launch> |
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