yolov6.launch

<launch>
    <node pkg="yolov6-ros" type="detect.py" name="detect" output="screen" ns="yolov6">
        <!-- Download the official weights from the original repo -->
        <param name="weights_path" type="str" value="/path/to/yolo_weights.pt" />
        <!-- topic name to subscribe to -->
        <param name="img_topic" type="str" value="/raw_image" />
        <!-- topic name for the detection output -->
        <param name="out_topic" type="str" value="yolov6" />
        <!-- confidence threshold -->
        <param name="conf_thresh" type="double" value="0.5" />
        <!-- intersection over union threshold -->
        <param name="iou_thresh" type="double" value="0.45" />
        <!-- queue size for publishing -->
        <param name="queue_size" type="int" value="1" />
        <!-- image size to which to resize each input image before feeding into the
        network (the final output is rescaled to the original image size) -->
        <param name="img_size" type="int" value="640" />
        <!-- flag whether to also publish image with the visualized detections -->
        <param name="visualize" type="bool" value="true" />
        <!-- 'cuda' or 'cpu' -->
        <param name="device" type="str" value="cuda" />
    </node>
</launch>