Example "Generic" ROS Launch File for Hydra

hydra_example.launch

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

    <!-- pointcloud for hydra: no need to change -->
    <arg name="pointcloud_topic" value="/semantic_pointcloud"/>

    <!-- Replace these with your actual sensor information -->
    <arg name="sensor_frame" default="SENSOR_FRAME_HERE"/>
    <arg name="depth_topic" default="DEPTH_IMAGE_TOPIC"/>
    <!-- These should point to a 2D semantic segmentation image -->
    <arg name="semantic_info_topic" default="SEMANTIC_CAM_INFO_TOPIC"/>
    <arg name="semantic_topic" default="SEMANTIC_IMAGE_TOPIC"/>

    <!-- semantic configuration -->
    <arg name="semantic_map_path" default="PATH_TO_SEMANTIC_COLORS.csv"/>
    <arg name="typology_dir" default="PATH_TO_TYPOLOGY_DIR"/>
    <arg name="typology_config" default="TYPOLOGY_FILE.yaml"/>

    <!-- see uhumans2 launch file for how these are used -->
    <arg name="dsg_output_dir" default="SOME_EXISTING_PATH"/>
    <arg name="dsg_output_prefix" default="SOME_PREFIX"/>

    <!-- good starter rviz file, though topics could be edited for images -->
    <arg name="rviz_dir" default="$(find hydra_dsg_builder)/rviz"/>
    <arg name="rviz_file" default="uhumans2.rviz"/>

    <!-- turns rgb (or 2D semantics) + depth into pointcloud -->
    <include file="$(find hydra_utils)/launch/includes/rgbd_to_pointcloud.xml">
        <arg name="rgb_info_topic" value="$(arg semantic_info_topic)"/>
        <arg name="rgb_topic" value="$(arg semantic_topic)"/>
        <arg name="depth_topic" value="$(arg depth_topic)"/>
        <arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
    </include>

    <!-- performs reconstruction and extracts places -->
    <include file="$(find hydra_topology)/launch/hydra_topology.launch" pass_all_args="true">
        <arg name="semantic_color_path" value="$(arg semantic_map_path)"/>
        <arg name="config" value="uhumans2_topology_config.yaml"/>
        <arg name="config_dir" value="$(find hydra_topology)/config"/>
        <arg name="debug" value="false"/>
    </include>

    <!-- constructs rest of scene graph from reconstruction and places -->
    <include file="$(find hydra_dsg_builder)/launch/dsg_builder.launch" pass_all_args="true">
        <arg name="robot_id" value="0"/>
        <arg name="use_gt_frame" value="true"/>
        <arg name="use_oriented_bounding_boxes" value="true"/>
        <arg name="config_dir" value="$(find hydra_dsg_builder)/config/uhumans2"/>
    </include>

</launch>