mirror of
https://github.com/Jieshoudaxue/ros_senior.git
synced 2026-08-29 08:34:43 +08:00
jieshoudaxue
23 lines
985 B
XML
23 lines
985 B
XML
<launch>
|
|
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
|
|
<param name="video_device" value="/dev/video0" />
|
|
<param name="image_width" value="640" />
|
|
<param name="image_height" value="480" />
|
|
<param name="pixel_format" value="yuyv" />
|
|
<param name="camera_frame_id" value="usb_cam" />
|
|
<param name="io_method" value="mmap"/>
|
|
</node>
|
|
|
|
<param name="yolov5_path" value="$(find robot_vision)/yolov5"/>
|
|
<param name="use_cpu" value="false" />
|
|
|
|
<!-- Start yolov5 and ros wrapper -->
|
|
<node pkg="robot_vision" type="yolo_v5.py" name="yolov5_ros" output="screen" >
|
|
<param name="weight_path" value="$(find robot_vision)/data/weights/yolov5s.pt"/>
|
|
<param name="image_topic" value="/usb_cam/image_raw" />
|
|
<param name="pub_topic" value="/yolov5/BoundingBoxes" />
|
|
<param name="camera_frame" value="camera_frame"/>
|
|
<param name="conf" value="0.3" />
|
|
</node>
|
|
|
|
</launch> |