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<launch>
<arg name="input_topic" default="image_topic"/>
<arg name="output_topic" default="midas_topic"/>
<arg name="model_name" default="model-small-traced.pt"/>
<arg name="out_orig_size" default="true"/>
<arg name="net_width" default="256"/>
<arg name="net_height" default="256"/>
<arg name="logging" default="false"/>
<node pkg="midas_cpp" type="midas_cpp" name="midas_cpp" output="log" respawn="true">
<param name="input_topic" value="$(arg input_topic)"/>
<param name="output_topic" value="$(arg output_topic)"/>
<param name="model_name" value="$(arg model_name)"/>
<param name="out_orig_size" value="$(arg out_orig_size)"/>
<param name="net_width" value="$(arg net_width)"/>
<param name="net_height" value="$(arg net_height)"/>
<param name="logging" value="$(arg logging)"/>
</node>
</launch> |