cones.launch

<?xml version="1.0"?>
<launch>
    <node pkg="nodelet" type="nodelet" name="zedcam_nodelets" args="manager" />   

    <include file="$(find zed_wrapper)/launch/include/zed_camera_nodelet.launch">
        <arg name="svo_file" value="$(find zed_wrapper)/../../../zed/HD1080_zed2_sunny_library_few.svo"/>

        <arg name="nodelet_manager_name" value="zedcam_nodelets" />
        <arg name="camera_name" value="zed2" />
        <arg name="camera_model" value="zed2" />
        <arg name="node_name" value="zed_node" />
        <arg name="cam_pos_z" value="0.585" />
    </include>

  <node pkg="vision_fsai" type="bgra2bgr.py" name="bgra2bgr" args="/zed_node/rgb/image_rect_color /bgr" output="log" />

    <include file="$(find darknet_ros)/launch/darknet_ros.launch">
	    <arg name="image" value="/bgr" />
        <arg name="output" value="log" />

	   <arg name="yolo_weights_path"          value="$(find darknet_ros)/../../../yolov"/>
	   <arg name="yolo_config_path"           value="$(find darknet_ros)/../../../yolov"/>

        <arg name="network_param_file"         value="$(find darknet_ros)/../../../yolov/yolov3-tiny.yaml"/>
    </include>

    <node pkg="vision_fsai" type="darknet_to_world" name="darknet_to_world" 
        output="screen">
        <remap from="~/depth" to="/zed_node/depth/depth_registered" />
        <remap from="~/image" to="/zed_node/rgb/image_rect_color" />
        <remap from="~/bounding" to="/darknet_ros/bounding_boxes" />

        <remap from="~/info" to="/zed_node/rgb/camera_info" />
    </node>

    <node pkg="nodelet" name="global_cones"
        type="nodelet" args="load pcl/PassThrough zedcam_nodelets" output="log">
        <remap from="~input" to="/darknet_to_world/cones" />
        <rosparam>
            input_frame: base_link
            filter_field_name: x
            filter_limit_min: 2
            filter_limit_max: 20
            output_frame: map
        </rosparam>
    </node>

    <node pkg="cloud_fsai" type="cone_clustererer" 
        name="cone_clustererer" output="screen">
        <remap from="~/input" to="/global_cones/output" />
    </node>
</launch>