fix(tensorrt_yolox): 🐛 renamed input output topic names

The input and output topic names of yolox.launch.xml do not match the arg names of multiple_yolox.launch.xml

Signed-off-by: Ioannis Souflas <[email protected]>

perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- cspell:ignore finetune -->
-  <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
-  <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
+  <arg name="input_topic" default="/sensing/camera/camera0/image_rect_color"/>
+  <arg name="output_topic" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
@@ -33,13 +33,13 @@
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
-    <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
-    <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <remap from="~/input/compressed_image" to="$(var input_topic)/compressed"/>
+    <remap from="~/output/raw_image" to="$(var input_topic)"/>
   </node>
 
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
-    <remap from="~/in/image" to="$(var input/image)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
+    <remap from="~/in/image" to="$(var input_topic)"/>
+    <remap from="~/out/objects" to="$(var output_topic)"/>
     <param name="score_threshold" value="$(var score_threshold)"/>
     <param name="nms_threshold" value="$(var nms_threshold)"/>
     <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>

perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
-  <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
+  <arg name="input_topic" default="/sensing/camera/camera0/image_rect_color"/>
+  <arg name="output_topic" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
@@ -32,13 +32,13 @@
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
-    <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
-    <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <remap from="~/input/compressed_image" to="$(var input_topic)/compressed"/>
+    <remap from="~/output/raw_image" to="$(var input_topic)"/>
   </node>
 
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
-    <remap from="~/in/image" to="$(var input/image)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
+    <remap from="~/in/image" to="$(var input_topic)"/>
+    <remap from="~/out/objects" to="$(var output_topic)"/>
     <param name="score_threshold" value="$(var score_threshold)"/>
     <param name="nms_threshold" value="$(var nms_threshold)"/>
     <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>