vlm

src/vlm_detect/launch/vlm_detect.launch.py

@@ -70,10 +70,10 @@ def generate_launch_description():
         'vlm_host', default_value='http://192.168.10.189:8000',
         description='VLM 服务器地址')
     declare_vlm_model = DeclareLaunchArgument(
-        'vlm_model', default_value='./OpenGVLab/InternVL3-1B/',
+        'vlm_model', default_value='/home/wisdom/models/gguf/Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
         description='VLM 模型名称')
     declare_image_topic = DeclareLaunchArgument(
-        'image_topic', default_value='/image_mjpeg',
+        'image_topic', default_value='/image',
         description='输入的压缩图像话题')
     declare_trigger_topic = DeclareLaunchArgument(
         'trigger_topic', default_value='/sign4return',
@@ -116,7 +116,6 @@ def generate_launch_description():
                 'trigger_topic': trigger_topic,
                 'trigger_sign': trigger_sign,
                 'result_topic': result_topic,
-                'prompt_text': prompt_text,
                 'max_tokens': max_tokens,
             }],
     )