uhumans2.launch

<launch>
    <arg name="sim_time_required" default="true"/>
    <param name="use_sim_time" value="$(arg sim_time_required)"/>

    <arg name="config_dir" default="$(find hydra)/config/uhumans2"/>
    <arg name="use_gt_frame" default="true" doc="use simulator-provided tf frame"/>
    <arg name="use_gt_semantics" default="true" doc="use simulator-provider semantics"/>
    <arg name="use_static_tfs" default="true" doc="publish static tfs from file"/>
    <arg name="color_mesh_by_label" default="false" doc="display mesh colored by semantic label"/>
    <arg name="use_oriented_bounding_boxes" default="false"/>
    <arg name="use_2d_places" default="true"/>
    <arg name="use_single_channel_label_image" default="false"/>

    <arg name="robot_frame" default="$(eval 'base_link_gt' if arg('use_gt_frame') else 'base_link_kimera')" doc="robot body tf frame"/>
    <arg name="odom_frame" default="$(eval 'world' if arg('use_gt_frame') else 'odom')" doc="odometry (map) frame"/>
    <arg name="sensor_frame" default="$(eval 'left_cam' if arg('use_gt_frame') else 'left_cam_kimera')" doc="camera frame"/>

    <!-- semantics -->
    <arg name="labelspace_name" default="$(eval 'uhumans2_office' if arg('use_gt_semantics') else 'ade20k_mp3d')" doc="semantic label space"/>
    <arg name="semantic_map_dir" default="$(find hydra_ros)/config/color" if="$(arg use_gt_semantics)"/>
    <arg name="semantic_map_dir" default="$(find semantic_inference)/config/colors" unless="$(arg use_gt_semantics)"/>
    <arg name="semantic_map_path" default="$(arg semantic_map_dir)/$(arg labelspace_name).csv"/>
    <arg name="semantic_label_remap_filepath" default="$(find hydra)/config/label_remaps/uhumans2_office.yaml" if="$(arg use_single_channel_label_image)"/>

    <arg name="rgb_topic" default="/tesse/left_cam/rgb/image_raw"/>
    <arg name="rgb_info_topic" default="/tesse/left_cam/camera_info"/>
    <arg name="depth_topic" default="/tesse/depth_cam/mono/image_raw"/>
    <arg name="label_topic" default="/semantic/image_raw" unless="$(arg use_gt_semantics)"/>
    <arg name="label_topic" default="$(eval '/tesse/seg_cam/converted/image_raw' if arg('use_single_channel_label_image') else '/tesse/seg_cam/rgb/image_raw')" 
                            if="$(arg use_gt_semantics)"/>

    <arg name="prerecorded_topic" default="/oneformer/labels/image_raw"/>

    <include file="$(find hydra_ros)/launch/static_tfs/uhumans2_static_tfs.xml" if="$(arg use_static_tfs)"/>

    <node pkg="tf2_ros" type="static_transform_publisher" name="fake_world_tf" args="0 0 0 0 0 0 1 map world" if="$(arg use_gt_frame)"/>

    <include file="$(find semantic_inference_ros)/launch/semantic_inference.launch"
             pass_all_args="true"
             unless="$(arg use_gt_semantics)">
        <arg name="enable_pointcloud" value="false"/>
    </include>

    <include file="$(find hydra_ros)/launch/hydra.launch" pass_all_args="true">
        <arg name="dataset_name" default="uhumans2"/>
        <arg name="rviz_file" default="uhumans2.rviz"/>
    </include>

</launch>