[update] Update 'CMakeList' to exclude old programs, and also small change of the launch file

Author: ShigemichiMatsuzaki

CMakeLists.txt

@@ -27,9 +27,7 @@ find_package(OpenCV REQUIRED)
 
 catkin_package(
  INCLUDE_DIRS include
- # LIBRARIES pytorch_enet_ros
  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
 )
 
 ###########
@@ -46,7 +44,6 @@ include_directories(
 
 ## Declare a C++ library
 add_library(${PROJECT_NAME}
-  src/pytorch_enet_ros.cpp
   src/pytorch_seg_trav_path_ros.cpp
   src/pytorch_cpp_wrapper_seg_trav.cpp
   src/pytorch_cpp_wrapper_seg_trav_path.cpp
@@ -64,16 +61,9 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/pytorch_enet_ros_node.cpp)
 add_executable(pytorch_seg_trav_path_node src/pytorch_seg_trav_path_node.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
-  ${catkin_LIBRARIES}
-  ${PROJECT_NAME}
-  ${TORCH_LIBRARIES}
-)
-
 target_link_libraries(pytorch_seg_trav_path_node
   ${catkin_LIBRARIES}
   ${PROJECT_NAME}

launch/pytorch_enet_ros.launch

@@ -1,18 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="image" default="/camera/rgb/image_rect_color" />
+  <arg name="model_name" default="$(find pytorch_ros)/models/espdnet_ue_trav_path_20210518-221714.pt" />
 
   <node pkg="pytorch_ros" type="pytorch_seg_trav_path_node" name="pytorch_seg_trav_path_node" output="screen">
-    <!--
-    <remap from="~image" to="/kinect2/qhd/image_color_rect" />
-    <param name="model_file" value="$(find pytorch_ros)/models/ENet_camvid.pt" />
-    <param name="colormap" value="$(find pytorch_ros)/images/camvid12.png" />
-    -->
     <remap from="~image" to="$(arg image)" />
-    <param name="model_file" value="$(find pytorch_ros)/models/espdnet_ue_trav_path_20210518-221714.pt" />
-    <!--
-    <param name="model_file" value="$(find pytorch_ros)/models/ENet_greenhouse.pt" />
-    -->
+    <param name="model_file" value="$(arg model_name)" />
     <param name="colormap" value="$(find pytorch_ros)/images/greenhouse4.png" />
     <param name="model_name" value="greenhouse" />
   </node>