clankers-cli 0.1.6

Command-line interface for clankeRS
Documentation 
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[project]
name = "{{PROJECT_NAME}}"
version = "0.1.0"

[node]
name = "{{PROJECT_NAME}}"
runtime = "async"

[topics.input.camera]
name = "/camera/image_raw"
type = "sensor_msgs/Image"
qos = "sensor_data"

[topics.output.detections]
name = "/detections"
type = "clankeRS/DetectionArray"
qos = "default"

[model.detector]
source_framework = "pytorch"
path = "models/detector.onnx"
backend = "onnxruntime"
device = "cpu"
warmup_runs = 10
max_latency_ms = 20

[model.detector.input]
topic = "/camera/image_raw"
shape = [1, 3, 224, 224]
layout = "nchw"
dtype = "f32"
normalization = "imagenet"

[logging]
record_mcap = true
output_dir = "logs/"

[replay]
default_log = "test_data/camera_sample.mcap"
deterministic = true

[testing]
max_latency_ms = 20
allow_dropped_messages = false