add medical sense file

vision_detect/configs/launch_configs/medical_sense.json

@@ -0,0 +1,30 @@
+{
+    "node_name": "bottle_detect_service",
+    "output_boxes": "True",
+    "output_masks": "False",
+
+    "calibration": {
+        "left_hand": "configs/hand_eye_mat/eye_in_left_hand.json",
+        "right_hand": "configs/hand_eye_mat/eye_in_right_hand.json",
+        "head": "configs/hand_eye_mat/eye_to_hand.json"
+    },
+
+    "get_camera_mode": "Service",
+    "Service_configs": {
+        "service_name": "/vision_object_recognition"
+    },
+
+    "detect_mode": "Detect",
+    "Detect_configs": {
+        "checkpoint_path": "checkpoints/medical_sense-seg.pt",
+        "confidence": 0.50,
+        "classes": [0, 1]
+    },
+
+    "calculate_mode": "PCA",
+    "PCA_configs": {
+        "depth_scale": 1000.0,
+        "depth_trunc": 3.0,
+        "voxel_size": 0.010
+    }
+}

vision_detect/launch/medical_sense.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+
+import os
+import json
+from ament_index_python.packages import get_package_share_directory
+
+
+share_dir = get_package_share_directory('vision_detect')
+config_dir = os.path.join(share_dir, 'configs/launch_configs/bottle_detect_service_pca.json')
+with open(config_dir, "r") as f:
+    configs = json.load(f)
+
+def generate_launch_description():
+    args_detect = [
+        DeclareLaunchArgument('configs_path', default_value=config_dir),
+    ]
+
+    def create_detect_node(context):
+        configs_path = LaunchConfiguration('configs_path').perform(context)
+
+        return [
+            Node(
+                package='vision_detect',
+                executable='detect_node',
+                name=configs['node_name'],
+                parameters=[{
+                    'configs_path': configs_path,
+                }]
+            )
+        ]
+
+    return LaunchDescription(args_detect + [
+        OpaqueFunction(function=create_detect_node),
+    ])