Fix ROS1 nodes argparse issue with .launch files #465

projects/opendr_ws/src/opendr_perception/scripts/audiovisual_emotion_recognition_node.py

@@ -159,7 +159,7 @@ def select_distributed(m, n): return [i * n // m + n // (2 * m) for i in range(m
                         help="Device to use (cpu, cuda)", choices=["cuda", "cpu"])
     parser.add_argument("--buffer_size", type=float, default=3.6,
                         help="Size of the audio buffer in seconds")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/binary_high_resolution_node.py

@@ -154,7 +154,7 @@ def main():
                         type=str, default="VGG_720p", choices=["VGG_720p", "VGG_1080p"])
     parser.add_argument("--device", help="Device to use, either \"cpu\" or \"cuda\", defaults to \"cuda\"",
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/continual_skeleton_based_action_recognition_node.py

@@ -225,7 +225,7 @@ def main():
     parser.add_argument("--model", help="Model to use, either \"costgcn\"",
                         type=str, default="costgcn", choices=["costgcn"])
 
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/continual_slam_dataset_node.py

@@ -136,7 +136,7 @@ def main():
                         help="ROS topic to publish distances")
     parser.add_argument("--dataset_fps", type=float, default=3,
                         help="Dataset frame rate")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     node = ContinualSlamDatasetNode(args.dataset_path,
                                     args.config_file_path,

projects/opendr_ws/src/opendr_perception/scripts/continual_slam_learner_node.py

@@ -269,7 +269,7 @@ def main():
                         action='store_false',
                         default=True,
                         help='Whether to save memory or not. Add it to the command if you want to write to disk')
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     node = ContinualSlamLearner(args.config_path,
                                 args.input_image_topic,

projects/opendr_ws/src/opendr_perception/scripts/continual_slam_predictor_node.py

@@ -328,7 +328,7 @@ def main():
                         type=str,
                         default='/cl_slam/update',
                         help='Update topic, listened from Continual SLAM Dataset Node')
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     node = ContinualSlamPredictor(args.config_path,
                                   args.input_image_topic,

projects/opendr_ws/src/opendr_perception/scripts/face_detection_retinaface_node.py

@@ -138,7 +138,7 @@ def main():
                         help="Retinaface backbone, options are either 'mnet' or 'resnet', where 'mnet' detects "
                              "masked faces as well",
                         type=str, default="resnet", choices=["resnet", "mnet"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and mx.context.num_gpus() > 0:

projects/opendr_ws/src/opendr_perception/scripts/face_recognition_node.py

@@ -180,7 +180,7 @@ def main():
                         help="Path of the directory where the images of the faces to be recognized are stored, "
                              "defaults to \"./database\"",
                         type=str, default="./database")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/facial_emotion_estimation_node.py

@@ -202,7 +202,7 @@ def _pre_process_input_image(image):
                         type=str, default=None)
     parser.add_argument('-d', '--device', help='Device to use, either cpu or cuda',
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/fall_detection_node.py

@@ -229,7 +229,7 @@ def main():
     parser.add_argument("--accelerate", help="Enables acceleration flags for pose estimation which runs when an "
                                              "input_rgb_image_topic is provided (e.g., stride)",
                         default=False, action="store_true")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/gesture_recognition_node.py

@@ -133,7 +133,7 @@ def main():
     parser.add_argument("--device", help="Device to use (cpu, cuda)", type=str, default="cpu", choices=["cuda", "cpu"])
     parser.add_argument("--threshold", help="Confidence threshold for prediction", type=float, default=0.5)
     parser.add_argument("--model", help="Model that config file will be used", type=str, default="plus_m_1.5x_416")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/heart_anomaly_detection_node.py

@@ -117,7 +117,7 @@ def callback(self, msg_data):
     parser.add_argument("--model", type=str, default="anbof", help="model to be used for prediction: anbof or gru",
                         choices=["anbof", "gru"])
 
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/hr_pose_estimation_node.py

@@ -149,7 +149,7 @@ def main():
                         type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
                         action="store_true")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/image_dataset_node.py

@@ -72,7 +72,7 @@ def main():
                         type=str, default="/opendr/dataset_image")
     parser.add_argument("-f", "--fps", help="Data FPS",
                         type=float, default=30)
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     dataset_path = args.dataset_path
     mot20_subsets_path = args.mot20_subsets_path

projects/opendr_ws/src/opendr_perception/scripts/landmark_based_facial_expression_recognition_node.py

@@ -168,7 +168,7 @@ def _landmark2numpy(landmarks):
                         type=str, default="pstbln_afew", choices=['pstbln_ck+', 'pstbln_casia', 'pstbln_afew'])
     parser.add_argument("-s", "--shape_predictor", help="Shape predictor (landmark_extractor) to use",
                         type=str, default='./predictor_path')
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_centernet_node.py

@@ -133,7 +133,7 @@ def main():
     parser.add_argument("--device", help="Device to use (cpu, cuda)", type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--backbone", help="Backbone network, defaults to \"resnet50_v1b\"",
                         type=str, default="resnet50_v1b", choices=["resnet50_v1b"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and mx.context.num_gpus() > 0:

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_detr_node.py

@@ -226,7 +226,7 @@ def main():
                         type=str, default=None)
     parser.add_argument("--device", help="Device to use, either \"cpu\" or \"cuda\", defaults to \"cuda\"",
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_gem_node.py

@@ -269,7 +269,7 @@ def callback(self, msg_rgb, msg_ir):
                         type=str, default=None)
     parser.add_argument("--device", help='Device to use, either "cpu" or "cuda", defaults to "cuda"',
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_nanodet_node.py

@@ -132,7 +132,7 @@ def main():
                         type=str, default=None)
     parser.add_argument("--device", help="Device to use (cpu, cuda)", type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--model", help="Model that config file will be used", type=str, default="plus_m_1.5x_416")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_ssd_node.py

@@ -160,7 +160,7 @@ def main():
                                            "\"seq2seq-nms\", \"soft-nms\", \"fast-nms\", \"cluster-nms\"",
                         type=str, default="default",
                         choices=["default", "seq2seq-nms", "soft-nms", "fast-nms", "cluster-nms"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and mx.context.num_gpus() > 0:

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_yolov3_node.py

@@ -134,7 +134,7 @@ def main():
                         type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--backbone", help="Backbone network, defaults to \"darknet53\"",
                         type=str, default="darknet53", choices=["darknet53"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and mx.context.num_gpus() > 0:

projects/opendr_ws/src/opendr_perception/scripts/object_detection_2d_yolov5_node.py

@@ -133,7 +133,7 @@ def main():
     parser.add_argument("--model_name", help="Network architecture, defaults to \"yolov5s\"",
                         type=str, default="yolov5s", choices=['yolov5s', 'yolov5n', 'yolov5m', 'yolov5l', 'yolov5x',
                                                               'yolov5n6', 'yolov5s6', 'yolov5m6', 'yolov5l6', 'custom'])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_detection_3d_voxel_node.py

@@ -135,7 +135,7 @@ def main():
     )
     parser.add_argument("-t", "--temp_dir", help="Path to a temporary directory with models",
                         type=str, default="temp")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_tracking_2d_deep_sort_node.py

@@ -221,7 +221,7 @@ def main():
                         type=str, default="deep_sort", choices=["deep_sort"])
     parser.add_argument("-td", "--temp_dir", help="Path to a temporary directory with models",
                         type=str, default="temp")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_tracking_2d_fair_mot_node.py

@@ -214,7 +214,7 @@ def main():
                         type=str, default="fairmot_dla34", choices=["fairmot_dla34"])
     parser.add_argument("-td", "--temp_dir", help="Path to a temporary directory with models",
                         type=str, default="temp")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/object_tracking_2d_siamrpn_node.py

@@ -172,7 +172,7 @@ def main():
                         type=str, default=None)
     parser.add_argument("--device", help="Device to use, either \"cpu\" or \"cuda\", defaults to \"cuda\"",
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and mx.context.num_gpus() > 0:

projects/opendr_ws/src/opendr_perception/scripts/object_tracking_3d_ab3dmot_node.py

@@ -148,7 +148,7 @@ def main():
     )
     parser.add_argument("-td", "--temp_dir", help="Path to a temporary directory with models",
                         type=str, default="temp")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     input_point_cloud_topic = args.input_point_cloud_topic
     detector_model_name = args.detector_model_name

projects/opendr_ws/src/opendr_perception/scripts/panoptic_segmentation_efficient_lps_node.py

@@ -176,7 +176,7 @@ def callback(self, data: ROS_PointCloud2):
     parser.add_argument("--performance_topic", help="Topic name for performance messages, disabled (None) by default",
                         type=str, default=None)
 
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     efficient_lps_node = EfficientLpsNode(args.input_point_cloud_2_topic,
                                           args.checkpoint,

projects/opendr_ws/src/opendr_perception/scripts/panoptic_segmentation_efficient_ps_node.py

@@ -193,7 +193,7 @@ def callback(self, data: ROS_Image):
                               panoptic segmentation maps and publish it on OUTPUT_RGB_IMAGE_TOPIC')
     parser.add_argument('--checkpoint', type=str, default='cityscapes',
                         help='download pretrained models [cityscapes, kitti] or load from the provided path')
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     efficient_ps_node = EfficientPsNode(args.input_rgb_image_topic,
                                         args.checkpoint,

projects/opendr_ws/src/opendr_perception/scripts/performance_node.py

@@ -65,7 +65,7 @@ def main():
                         type=str, default="/opendr/performance")
     parser.add_argument("-w", "--window", help="The window to use in frames to calculate running average FPS",
                         type=int, default=20)
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     performance_node = PerformanceNode(input_performance_topic=args.input_performance_topic,
                                        window_length=args.window)

projects/opendr_ws/src/opendr_perception/scripts/point_cloud_2_publisher_node.py

@@ -92,7 +92,7 @@ def _init_dataset(self):
                         help='topic for the output point cloud')
     parser.add_argument('-t', '--test_data', action='store_true',
                         help='Use uploaded test data on the FTP server')
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     if args.test_data:
         args.dataset_path = EfficientLpsLearner.download(args.dataset_path, mode="test_data", prepare_data=True)

projects/opendr_ws/src/opendr_perception/scripts/point_cloud_dataset_node.py

@@ -69,7 +69,7 @@ def main():
                         type=str, default="/opendr/dataset_point_cloud")
     parser.add_argument("-f", "--fps", help="Data FPS",
                         type=float, default=10)
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     dataset_path = args.dataset_path
     kitti_subsets_path = args.kitti_subsets_path

projects/opendr_ws/src/opendr_perception/scripts/pose_estimation_node.py

@@ -147,7 +147,7 @@ def main():
                         type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
                         action="store_true")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/rgbd_hand_gesture_recognition_node.py

@@ -165,7 +165,7 @@ def preprocess(self, rgb_image, depth_image):
     parser.add_argument("--delay", help="The delay (in seconds) with which RGB message and"
                                         "depth message can be synchronized", type=float, default=0.1)
 
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/semantic_segmentation_bisenet_node.py

@@ -189,7 +189,7 @@ def main():
                         type=str, default=None)
     parser.add_argument("--device", help="Device to use, either \"cpu\" or \"cuda\", defaults to \"cuda\"",
                         type=str, default="cuda", choices=["cuda", "cpu"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/skeleton_based_action_recognition_node.py

@@ -232,7 +232,7 @@ def _pose2numpy(num_current_frames, poses_list):
     parser.add_argument("--model", help="Model to use, either \"stgcn\" or \"pstgcn\"",
                         type=str, default="stgcn", choices=["stgcn", "pstgcn"])
 
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/speech_command_recognition_node.py

@@ -139,7 +139,7 @@ def callback(self, msg_data):
                         help="Model to be used for prediction: matchboxnet, edgespeechnets or quad_selfonn")
     parser.add_argument("--model_path", type=str,
                         help="Path to the model files, if not given, the pretrained model will be downloaded")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/speech_transcription_node.py

@@ -501,7 +501,7 @@ def main():
         "--sample_rate", type=int, default=16000, help="Sampling rate for audio data."
         "Check your audio source for correct value."
     )
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/video_activity_recognition_node.py

@@ -243,7 +243,7 @@ def main():
     parser.add_argument("--model", help="Architecture to use for human activity recognition.",
                         type=str, default="cox3d-m",
                         choices=["cox3d-s", "cox3d-m", "cox3d-l", "x3d-xs", "x3d-s", "x3d-m", "x3d-l"])
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():

projects/opendr_ws/src/opendr_perception/scripts/wave_detection_node.py

@@ -322,7 +322,7 @@ def main():
                         type=str, default="cuda", choices=["cuda", "cpu"])
     parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
                         action="store_true")
-    args = parser.parse_args()
+    args = parser.parse_args(rospy.myargv()[1:])
 
     try:
         if args.device == "cuda" and torch.cuda.is_available():