add launch files

Author: Maik Zickermann

jetson_nano/catkin_ws/src/darknet_ros/darknet_ros/config/yolov3-tiny.yaml

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+yolo_model:
+
+ config_file:
+ name: yolov3-tiny.cfg
+ weight_file:
+ name: yolov3-tiny.weights
+ threshold:
+ value: 0.3
+ detection_classes:
+ names:
+ - person
+ - bicycle
+ - car
+ - motorbike
+ - aeroplane
+ - bus
+ - train
+ - truck
+ - boat
+ - traffic light
+ - fire hydrant
+ - stop sign
+ - parking meter
+ - bench
+ - bird
+ - cat
+ - dog
+ - horse
+ - sheep
+ - cow
+ - elephant
+ - bear
+ - zebra
+ - giraffe
+ - backpack
+ - umbrella
+ - handbag
+ - tie
+ - suitcase
+ - frisbee
+ - skis
+ - snowboard
+ - sports ball
+ - kite
+ - baseball bat
+ - baseball glove
+ - skateboard
+ - surfboard
+ - tennis racket
+ - bottle
+ - wine glass
+ - cup
+ - fork
+ - knife
+ - spoon
+ - bowl
+ - banana
+ - apple
+ - sandwich
+ - orange
+ - broccoli
+ - carrot
+ - hot dog
+ - pizza
+ - donut
+ - cake
+ - chair
+ - sofa
+ - pottedplant
+ - bed
+ - diningtable
+ - toilet
+ - tvmonitor
+ - laptop
+ - mouse
+ - remote
+ - keyboard
+ - cell phone
+ - microwave
+ - oven
+ - toaster
+ - sink
+ - refrigerator
+ - book
+ - clock
+ - vase
+ - scissors
+ - teddy bear
+ - hair drier
+ - toothbrush

jetson_nano/catkin_ws/src/darknet_ros/darknet_ros/launch/yolo_v3_tiny.launch

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+<?xml version="1.0" encoding="utf-8"?>
+
+<launch>
+
+ <!-- Use YOLOv3 -->
+ <arg name="network_param_file" default="$(find darknet_ros)/config/yolov3-tiny.yaml"/>
+ <arg name="image" default="camera/rgb/image_raw" />
+
+
+ <!-- Include main launch file -->
+ <include file="$(find darknet_ros)/launch/darknet_ros.launch">
+ <arg name="network_param_file" value="$(arg network_param_file)"/>
+ <arg name="image" value="$(arg image)" />
+ </include>
+
+</launch>

jetson_nano/catkin_ws/src/darknet_ros/darknet_ros/yolo_network_config/cfg/yolov3-tiny.cfg

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+[net]
+# Testing
+batch=1
+subdivisions=1
+# Training
+# batch=64
+# subdivisions=2
+width=416
+height=416
+channels=3
+momentum=0.9
+decay=0.0005
+angle=0
+saturation = 1.5
+exposure = 1.5
+hue=.1
+
+learning_rate=0.001
+burn_in=1000
+max_batches = 500200
+policy=steps
+steps=400000,450000
+scales=.1,.1
+
+[convolutional]
+batch_normalize=1
+filters=16
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=1
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=1
+pad=1
+activation=leaky
+
+###########
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=255
+activation=linear
+
+
+
+[yolo]
+mask = 3,4,5
+anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
+classes=80
+num=6
+jitter=.3
+ignore_thresh = .7
+truth_thresh = 1
+random=1
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = -1, 8
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=255
+activation=linear
+
+[yolo]
+mask = 0,1,2
+anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
+classes=80
+num=6
+jitter=.3
+ignore_thresh = .7
+truth_thresh = 1
+random=1