yolox_onnxruntime.launch.py

# Copyright 2023 Ar-Ray-code
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import launch
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    launch_args = [
        DeclareLaunchArgument(
            "video_device",
            default_value="/dev/video0",
            description="input video source",
        ),
        DeclareLaunchArgument(
            "model_path",
            default_value="./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx",
            description="yolox model path.",
        ),
        DeclareLaunchArgument("p6", default_value="false", description="with p6."),
        DeclareLaunchArgument(
            "class_labels_path",
            default_value="",
            description="if use custom model, set class name labels. ",
        ),
        DeclareLaunchArgument(
            "num_classes", default_value="80", description="num classes."
        ),
        DeclareLaunchArgument(
            "model_version",
            default_value="0.1.1rc0",
            description="yolox model version.",
        ),
        DeclareLaunchArgument(
            "onnxruntime_use_cuda",
            default_value="true",
            description="onnxruntime use cuda.",
        ),
        DeclareLaunchArgument(
            "onnxruntime_device_id",
            default_value="0",
            description="onnxruntime gpu device id.",
        ),
        DeclareLaunchArgument(
            "onnxruntime_use_parallel",
            default_value="false",
            description="if use_parallel is true, you can set inter_op_num_threads.",
        ),
        DeclareLaunchArgument("onnxruntime_inter_op_num_threads", default_value="1"),
        DeclareLaunchArgument(
            "onnxruntime_intra_op_num_threads",
            default_value="1",
            description="ontrols the number of threads to use to run the model.",
        ),
        DeclareLaunchArgument(
            "conf", default_value="0.30", description="yolox confidence threshold."
        ),
        DeclareLaunchArgument(
            "nms", default_value="0.45", description="yolox nms threshold"
        ),
        DeclareLaunchArgument("imshow_isshow", default_value="true", description=""),
        DeclareLaunchArgument(
            "src_image_topic_name",
            default_value="/image_raw",
            description="topic name for source image",
        ),
        DeclareLaunchArgument(
            "publish_image_topic_name",
            default_value="/yolox/image_raw",
            description="topic name for publishing image with bounding box drawn",
        ),
        DeclareLaunchArgument(
            "publish_boundingbox_topic_name",
            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",
        namespace="",
        package="rclcpp_components",
        executable="component_container",
        composable_node_descriptions=[
            ComposableNode(
                package="usb_cam",
                plugin="usb_cam::UsbCamNode",
                name="usb_cam_node",
                parameters=[
                    {
                        "video_device": LaunchConfiguration("video_device"),
                        "brightness": 100,
                    }
                ],
            ),
            ComposableNode(
                package="yolox_ros_cpp",
                plugin="yolox_ros_cpp::YoloXNode",
                name="yolox_ros_cpp",
                parameters=[
                    {
                        "model_path": LaunchConfiguration("model_path"),
                        "p6": LaunchConfiguration("p6"),
                        "class_labels_path": LaunchConfiguration("class_labels_path"),
                        "num_classes": LaunchConfiguration("num_classes"),
                        "model_type": "onnxruntime",
                        "model_version": LaunchConfiguration("model_version"),
                        "onnxruntime_use_cuda": LaunchConfiguration(
                            "onnxruntime_use_cuda"
                        ),
                        "onnxruntime_device_id": LaunchConfiguration(
                            "onnxruntime_device_id"
                        ),
                        "onnxruntime_use_parallel": LaunchConfiguration(
                            "onnxruntime_use_parallel"
                        ),
                        "onnxruntime_inter_op_num_threads": LaunchConfiguration(
                            "onnxruntime_inter_op_num_threads"
                        ),
                        "onnxruntime_intra_op_num_threads": LaunchConfiguration(
                            "onnxruntime_intra_op_num_threads"
                        ),
                        "conf": LaunchConfiguration("conf"),
                        "nms": LaunchConfiguration("nms"),
                        "imshow_isshow": LaunchConfiguration("imshow_isshow"),
                        "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"),
                    }
                ],
            ),
        ],
        output="screen",
    )

    return launch.LaunchDescription(launch_args + [container])