add params

detector2d_bringup/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.8)
+project(detector2d_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+)

detector2d_bringup/launch/detector_yolox.launch.py

@@ -0,0 +1,62 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    container = ComposableNodeContainer(
+        name='detector_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='realsense2_camera',
+                plugin='realsense2_camera::RealSenseNodeFactory',
+                name='realsense2_camera',
+                namespace='',
+                parameters=[{
+                    'align_depth.enable': True,
+                    'enable_color': True,
+                    'enable_depth': True
+                }]
+            ),
+            ComposableNode(
+                package='detector2d_node',
+                plugin='detector2d_node::Detector2dNode',
+                name='detector2d_node',
+                namespace='',
+                parameters=[{
+                    'yolox_trt_plugin.model_path': os.path.expanduser('~') + '/yolox_tiny.trt',
+                    'load_target_plugin': 'detector2d_plugins::YoloxTrt'
+                }],
+                remappings=[
+                    ('image_raw', 'color/image_raw')
+                ]
+            ),
+            ComposableNode(
+                package='bbox2d_to_3d_node',
+                plugin='bbox2d_to_3d_node::BBox2DTo3DNode',
+                name='bbox2d_to_3d_node',
+                namespace='',
+                parameters=[{
+                    'min_depth': 0.05,
+                    'max_depth': 3.0,
+                    'imshow_isshow': True
+                }],
+                remappings=[
+                    ('bbox2d', 'positions'),
+                    ('camera_info', 'aligned_depth_to_color/camera_info'),
+                    ('depth', 'aligned_depth_to_color/image_raw'),
+                    ('color', 'color/image_raw')
+                ]
+            ),
+        ]
+    )
+
+    return LaunchDescription([
+        container
+    ])

detector2d_bringup/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>detector2d_bringup</name>
+  <version>0.0.0</version>
+  <description>Detector2d bringup node for CoRE-1</description>
+  <maintainer email="[email protected]">Ar-Ray-code</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>bbox2d_to_3d_node</exec_depend>
+  <exec_depend>detector2d_node</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

detector2d_node/src/detector2d_node.cpp

@@ -42,6 +42,13 @@ Detector2dNode::Detector2dNode(const rclcpp::NodeOptions & options)
 
 void Detector2dNode::image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
 {
+  try {
+    cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+  } catch (std::exception & e) {
+    RCLCPP_ERROR(this->get_logger(), "exception: %s", e.what());
+    return;
+  }
+
   vision_msgs::msg::Detection2DArray bboxes =
     this->detector_->detect(cv_bridge::toCvShare(msg, "bgr8")->image);
   for (size_t i = 0; i < bboxes.detections.size(); i++) {

detector2d_param/src/detector2d_parameters.yaml

@@ -12,3 +12,13 @@ detector2d_parameters:
       type: string
       description: "panel color"
       default_value: "red"
+  yolox_trt_plugin:
+    model_path:
+      type: string
+      description: "model path"
+      default_value: "./src/yolox_trt/weight/yolox_tiny.trt"
+      read_only: true
+    imshow_isshow:
+      type: bool
+      description: "imshow isshow"
+      default_value: false