modified CMD of dockerfiles

KalanaRatnayake · Jul 19, 2024 · 3c6a50d · 3c6a50d
1 parent ef2ff14
commit 3c6a50d
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Showing 5 changed files with 65 additions and 44 deletions.
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -101,16 +101,16 @@ CMD ros2 launch boxmot_ros docker.launch.py yolo_model:=$YOLO_MODEL \
                                             input_rgb_topic:=$INPUT_RGB_TOPIC \
                                             input_depth_topic:=$INPUT_DEPTH_TOPIC \
                                             subscribe_depth:=$SUBSCRIBE_DEPTH \
-                                            publish_annotated_image:=$PUBLISH_ANNOTATED_IMAGE \
-                                            annotated_topic:=$YOLO_ANNOTATED_TOPIC \
-                                            detailed_topic:=$YOLO_DETAILED_TOPIC \
-                                            threshold:=$YOLO_THRESHOLD \
-                                            device:=$YOLO_DEVICE \
+                                            yolo_publish_annotated_image:=$YOLO_PUBLISH_ANNOTATED_IMAGE \
+                                            yolo_annotated_topic:=$YOLO_ANNOTATED_TOPIC \
+                                            yolo_detailed_topic:=$YOLO_DETAILED_TOPIC \
+                                            yolo_threshold:=$YOLO_THRESHOLD \
+                                            yolo_device:=$YOLO_DEVICE \
                                             tracking_model:=$TRACKING_MODEL \
                                             reid_model:=$REID_MODEL \
                                             input_topic:=$INPUT_TOPIC \
-                                            publish_annotated_image:=$PUBLISH_ANNOTATED_IMAGE \
-                                            annotated_topic:=$BOXMOT_ANNOTATED_TOPIC \
-                                            detailed_topic:=$BOXMOT_DETAILED_TOPIC \
-                                            threshold:=$BOXMOT_THRESHOLD \
-                                            device:=$BOXMOT_DEVICE
+                                            boxmot_publish_annotated_image:=$BOXMOT_PUBLISH_ANNOTATED_IMAGE \
+                                            boxmot_annotated_topic:=$BOXMOT_ANNOTATED_TOPIC \
+                                            boxmot_detailed_topic:=$BOXMOT_DETAILED_TOPIC \
+                                            boxmot_threshold:=$BOXMOT_THRESHOLD \
+                                            boxmot_device:=$BOXMOT_DEVICE
diff --git a/docker/Dockerfile.jetson-nano b/docker/Dockerfile.jetson-nano
@@ -81,17 +81,16 @@ CMD ros2 launch boxmot_ros docker.launch.py yolo_model:=$YOLO_MODEL \
                                             input_rgb_topic:=$INPUT_RGB_TOPIC \
                                             input_depth_topic:=$INPUT_DEPTH_TOPIC \
                                             subscribe_depth:=$SUBSCRIBE_DEPTH \
-                                            publish_annotated_image:=$PUBLISH_ANNOTATED_IMAGE \
-                                            annotated_topic:=$YOLO_ANNOTATED_TOPIC \
-                                            detailed_topic:=$YOLO_DETAILED_TOPIC \
-                                            threshold:=$YOLO_THRESHOLD \
-                                            device:=$YOLO_DEVICE \
+                                            yolo_publish_annotated_image:=$YOLO_PUBLISH_ANNOTATED_IMAGE \
+                                            yolo_annotated_topic:=$YOLO_ANNOTATED_TOPIC \
+                                            yolo_detailed_topic:=$YOLO_DETAILED_TOPIC \
+                                            yolo_threshold:=$YOLO_THRESHOLD \
+                                            yolo_device:=$YOLO_DEVICE \
                                             tracking_model:=$TRACKING_MODEL \
                                             reid_model:=$REID_MODEL \
                                             input_topic:=$INPUT_TOPIC \
-                                            publish_annotated_image:=$PUBLISH_ANNOTATED_IMAGE \
-                                            annotated_topic:=$BOXMOT_ANNOTATED_TOPIC \
-                                            detailed_topic:=$BOXMOT_DETAILED_TOPIC \
-                                            threshold:=$BOXMOT_THRESHOLD \
-                                            device:=$BOXMOT_DEVICE
-
+                                            boxmot_publish_annotated_image:=$BOXMOT_PUBLISH_ANNOTATED_IMAGE \
+                                            boxmot_annotated_topic:=$BOXMOT_ANNOTATED_TOPIC \
+                                            boxmot_detailed_topic:=$BOXMOT_DETAILED_TOPIC \
+                                            boxmot_threshold:=$BOXMOT_THRESHOLD \
+                                            boxmot_device:=$BOXMOT_DEVICE
diff --git a/docker/compose.amd64.yaml b/docker/compose.amd64.yaml
@@ -5,7 +5,7 @@ services:
       - TRACKING_MODEL=deepocsort
       - REID_MODEL=osnet_x0_25_msmt17.pt
       - INPUT_TOPIC=/yolo_ros/detection_result
-      - PUBLISH_ANNOTATED_IMAGE=True
+      - BOXMOT_PUBLISH_ANNOTATED_IMAGE=True
       - BOXMOT_ANNOTATED_TOPIC=/boxmot_ros/annotated_image
       - BOXMOT_DETAILED_TOPIC=/boxmot_ros/tracking_result
       - BOXMOT_THRESHOLD=0.25
@@ -15,7 +15,7 @@ services:
       - INPUT_RGB_TOPIC=/camera/color/image_raw
       - INPUT_DEPTH_TOPIC=/camera/depth/points
       - SUBSCRIBE_DEPTH=True
-      - PUBLISH_ANNOTATED_IMAGE=True
+      - YOLO_PUBLISH_ANNOTATED_IMAGE=True
       - YOLO_ANNOTATED_TOPIC=/yolo_ros/annotated_image
       - YOLO_DETAILED_TOPIC=/yolo_ros/detection_result
       - YOLO_THRESHOLD=0.25

diff --git a/docker/compose.jnano.yaml b/docker/compose.jnano.yaml
@@ -5,7 +5,7 @@ services:
       - TRACKING_MODEL=deepocsort
       - REID_MODEL=osnet_x0_25_msmt17.pt
       - INPUT_TOPIC=/yolo_ros/detection_result
-      - PUBLISH_ANNOTATED_IMAGE=True
+      - BOXMOT_PUBLISH_ANNOTATED_IMAGE=True
       - BOXMOT_ANNOTATED_TOPIC=/boxmot_ros/annotated_image
       - BOXMOT_DETAILED_TOPIC=/boxmot_ros/tracking_result
       - BOXMOT_THRESHOLD=0.25
@@ -15,7 +15,7 @@ services:
       - INPUT_RGB_TOPIC=/camera/color/image_raw
       - INPUT_DEPTH_TOPIC=/camera/depth/points
       - SUBSCRIBE_DEPTH=True
-      - PUBLISH_ANNOTATED_IMAGE=True
+      - YOLO_PUBLISH_ANNOTATED_IMAGE=True
       - YOLO_ANNOTATED_TOPIC=/yolo_ros/annotated_image
       - YOLO_DETAILED_TOPIC=/yolo_ros/detection_result
       - YOLO_THRESHOLD=0.25

diff --git a/launch/docker.launch.py b/launch/docker.launch.py
@@ -3,39 +3,61 @@
 import ament_index_python.packages
 import launch_ros.actions
 from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
 from launch.actions import DeclareLaunchArgument
 
 import yaml
 
 
 def generate_launch_description():
-    yolo_yolo_model_param                = DeclareLaunchArgument('yolo_model',               default_value="yolov9s.pt")
-    yolo_input_rgb_topic_param           = DeclareLaunchArgument('input_rgb_topic',          default_value="/camera/color/image_raw")
-    yolo_input_depth_topic_param         = DeclareLaunchArgument('input_depth_topic',        default_value="/camera/depth/points")
-    yolo_subscribe_depth_param           = DeclareLaunchArgument('subscribe_depth',          default_value=True)
-    yolo_publish_annotated_image_param   = DeclareLaunchArgument('publish_annotated_image',  default_value=True)
-    yolo_annotated_topic_param           = DeclareLaunchArgument('annotated_topic',          default_value="/yolo_ros/annotated_image")
-    yolo_detailed_topic_param            = DeclareLaunchArgument('detailed_topic',           default_value="/yolo_ros/detection_result")
-    yolo_threshold_param                 = DeclareLaunchArgument('threshold',                default_value=0.25)
-    yolo_device_param                    = DeclareLaunchArgument('device',                   default_value="0")
+    yolo_yolo_model_param                = DeclareLaunchArgument('yolo_model',                      default_value="yolov9s.pt")
+    yolo_input_rgb_topic_param           = DeclareLaunchArgument('input_rgb_topic',                 default_value="/camera/color/image_raw")
+    yolo_input_depth_topic_param         = DeclareLaunchArgument('input_depth_topic',               default_value="/camera/depth/points")
+    yolo_subscribe_depth_param           = DeclareLaunchArgument('subscribe_depth',                 default_value=True)
+    yolo_publish_annotated_image_param   = DeclareLaunchArgument('yolo_publish_annotated_image',    default_value=True)
+    yolo_annotated_topic_param           = DeclareLaunchArgument('yolo_annotated_topic',            default_value="/yolo_ros/annotated_image")
+    yolo_detailed_topic_param            = DeclareLaunchArgument('yolo_detailed_topic',             default_value="/yolo_ros/detection_result")
+    yolo_threshold_param                 = DeclareLaunchArgument('yolo_threshold',                  default_value=0.25)
+    yolo_device_param                    = DeclareLaunchArgument('yolo_device',                     default_value="0")
 
-    boxmot_yolo_model_param              = DeclareLaunchArgument('tracking_model',           default_value="deepocsort")
-    boxmot_input_rgb_topic_param         = DeclareLaunchArgument('reid_model',               default_value="osnet_x0_25_msmt17.pt")
-    boxmot_input_depth_topic_param       = DeclareLaunchArgument('input_topic',              default_value="/yolo_ros/detection_result")
-    boxmot_publish_annotated_image_param = DeclareLaunchArgument('publish_annotated_image',  default_value=True)
-    boxmot_annotated_topic_param         = DeclareLaunchArgument('annotated_topic',          default_value="/boxmot_ros/annotated_image")
-    boxmot_detailed_topic_param          = DeclareLaunchArgument('detailed_topic',           default_value="/boxmot_ros/tracking_result")
-    boxmot_threshold_param               = DeclareLaunchArgument('threshold',                default_value=0.25)
-    boxmot_device_param                  = DeclareLaunchArgument('device',                   default_value="0")
+    boxmot_yolo_model_param              = DeclareLaunchArgument('tracking_model',                  default_value="deepocsort")
+    boxmot_input_rgb_topic_param         = DeclareLaunchArgument('reid_model',                      default_value="osnet_x0_25_msmt17.pt")
+    boxmot_input_depth_topic_param       = DeclareLaunchArgument('input_topic',                     default_value="/yolo_ros/detection_result")
+    boxmot_publish_annotated_image_param = DeclareLaunchArgument('boxmot_publish_annotated_image',  default_value=True)
+    boxmot_annotated_topic_param         = DeclareLaunchArgument('boxmot_annotated_topic',          default_value="/boxmot_ros/annotated_image")
+    boxmot_detailed_topic_param          = DeclareLaunchArgument('boxmot_detailed_topic',           default_value="/boxmot_ros/tracking_result")
+    boxmot_threshold_param               = DeclareLaunchArgument('boxmot_threshold',                default_value=0.25)
+    boxmot_device_param                  = DeclareLaunchArgument('boxmot_device',                   default_value="0")
 
     yolo_ros_node = launch_ros.actions.Node(package='yolo_ros',
                                               executable='yolo_ros',
-                                              output='both'
+                                              output='both',
+                                              parameters=[{
+                                                  'yolo_model': LaunchConfiguration('yolo_model'),
+                                                  'input_rgb_topic': LaunchConfiguration('input_rgb_topic'),
+                                                  'input_depth_topic': LaunchConfiguration('input_depth_topic'),
+                                                  'subscribe_depth': LaunchConfiguration('subscribe_depth'),
+                                                  'publish_annotated_image': LaunchConfiguration('yolo_publish_annotated_image'),
+                                                  'annotated_topic': LaunchConfiguration('yolo_annotated_topic'),
+                                                  'detailed_topic': LaunchConfiguration('yolo_detailed_topic'),
+                                                  'threshold': LaunchConfiguration('yolo_threshold'),
+                                                  'device': LaunchConfiguration('yolo_device'),
+                                              }]
                                               )
 
     boxmot_ros_node = launch_ros.actions.Node(package='boxmot_ros',
                                               executable='boxmot_ros',
-                                              output='both'
+                                              output='both',
+                                              parameters=[{
+                                                  'tracking_model': LaunchConfiguration('tracking_model'),
+                                                  'reid_model': LaunchConfiguration('reid_model'),
+                                                  'input_topic': LaunchConfiguration('input_topic'),
+                                                  'publish_annotated_image': LaunchConfiguration('boxmot_publish_annotated_image'),
+                                                  'annotated_topic': LaunchConfiguration('boxmot_annotated_topic'),
+                                                  'detailed_topic': LaunchConfiguration('boxmot_detailed_topic'),
+                                                  'threshold': LaunchConfiguration('boxmot_threshold'),
+                                                  'device': LaunchConfiguration('boxmot_device')
+                                              }]
                                               )
 
     ld = LaunchDescription()