From 6a32d0d9f23b74ac2ffa7413f61149e1cc17c9c2 Mon Sep 17 00:00:00 2001
From: chickenta2ta <tishizuka1906@icloud.com>
Date: Sat, 29 Jul 2023 17:21:28 +0900
Subject: [PATCH] modified launch file to start lightnet-trt

---
 .../launch/perception_jetson0.launch.xml                   | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/edge_auto_jetson_launch/launch/perception_jetson0.launch.xml b/edge_auto_jetson_launch/launch/perception_jetson0.launch.xml
index 20d4bea..d87084b 100644
--- a/edge_auto_jetson_launch/launch/perception_jetson0.launch.xml
+++ b/edge_auto_jetson_launch/launch/perception_jetson0.launch.xml
@@ -43,6 +43,13 @@
         <arg name="input/image/is_raw" value="True" />
         <arg name="output/objects" value="/perception/object_recognition/detection/rois$(var camera_id)" />
       </include>
+
+      <let name="tensorrt_lightnet_is_installed" value="$(eval 'not &quot;$(find-pkg-share tensorrt_lightnet)&quot;')" />
+      <include file="$(find-pkg-share tensorrt_lightnet)/launch/tensorrt_lightnet.launch.xml" if="$(var tensorrt_lightnet_is_installed)">
+        <arg name="container_name" value="$(var container_name)" />
+        <arg name="input/image" value="/sensing/camera/$(var camera_name)/image_raw" />
+        <arg name="output/objects" value="/perception/object_recognition/detection/rois$(var camera_id)" />
+      </include>
     </group>
   </group>  <!-- camera0  -->