ROS2 Humble

.gitignore

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-/weights
-*.pyc
-*._
-__pycache__
-venv
-.idea
-.DS_Store
-._.DS_Store
-*.hdr
-google_scanned_models/
-scripts/nvisii_data_gen/output/dataset/
+test/
+training_script/
+
+

README.md

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+# Deep Object Pose Estimation (DOPE) - ROS2 Inference
+
+This is a ROS2 package to make inference with DOPE ([original ROS1 repo](https://github.com/NVlabs/Deep_Object_Pose/tree/master)). The official code is adapted to work on the ROS2 framework with Python3.10 and the updated requirements. See the official repository for detailed info about DOPE.
+
+## Installing
+
+The code has been tested on Ubuntu 22.04 with ROS2 Humble and Python 3.10. 
+
+1. **Clone the repository into your ros2 workspace**
+    ```
+    mkdir -p ~/ros2_ws/src
+    cd ~/ros2_ws/src
+    git clone https://github.com/Vanvitelli-Robotics/DOPE.git dope -b ros2_humble
+    ```
+
+2. **Install python dependencies**
+    ```
+    cd ~/ros2_ws/src/dope
+    python3 -m pip install -r requirements.txt
+    ```
+
+3. **Build**
+    ```
+    cd ~/ros2_ws
+    colcon build --packages-select dope
+    ```
+
+4. **Run the node**
+
+   First, you need to configure your setup in */config/config_dope.yaml*, specifying the topics of your camera and the parameters of the target objects. Note that you have to also specifity the path of the weights resulting from the training for each object you want to inferred (also several objects simultaneously). You can load the weights in ```weights/``` folder (we don't provide any .pth due to the high dimension of the file).
+
+   After configuration, you can start the inference running the node as follows:
+    ```
+    ros2 run dope_ros2 dope_node --ros-args --params-file ~/ros2_ws/src/dope/config/config_dope.yaml
+    ```
+   or, if you prefer, you can use the available launch file:
+      ```
+    ros2 launch dope_ros2 dope.launch.py
+    ```
+
+

config/config_dope.yaml

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+/dope_node:
+  ros__parameters:
+    topic_camera: /camera/color/image_raw
+    topic_camera_info: /camera/color/camera_info # "/dope/webcam/camera_info"
+    topic_publishing: dope
+    input_is_rectified: true # Whether the input image is rectified (strongly suggested!)
+    downscale_height: 400 # if the input image is larger than this, scale it down to this pixel height
+
+    # Comment any of these lines to prevent detection / pose estimation of that object
+    weights:
+      # "apple": "package://dope/weights/apple_120.pth"
+      # "santal_ace": "package://dope_ros2/weights/santal_67.pth"
+      "lime": "package://dope_ros2/weights/lime_215.pth"
+      "bowl": "package://dope_ros2/weights/bowl_114.pth"
+      "fork": "package://dope_ros2/weights/fork_190.pth"
+      "glass": "package://dope_ros2/weights/red_glass_120.pth"
+      "cracker": "package://dope_ros2/weights/cracker_60.pth"
+
+    # Cuboid dimension in cm x, y, z
+    dimensions:
+      "apple": [9.756118059158325, 8.538994193077087, 9.590171277523041]
+      "santal_ace": [8.69415, 6.90914, 4.38487] 
+      "lime": [4.0052998811006546,3.9955999702215195,5.266399681568146]
+      "bowl": [20.5,20.5,9.15]
+      "fork": [2.82,2.86,20.64]
+      "glass": [7.4,7.4,9.5]
+      "cracker": [16.403600692749023,21.343700408935547,7.179999828338623]
+
+    class_ids:
+      "apple": 1
+      "santal_ace": 4
+      "lime": 5
+      "bowl": 6
+      "fork": 7
+      "glass": 8
+      "cracker": 9
+
+    draw_colors:
+      "apple": [255, 0, 0]          # red
+      "santal_ace": [255, 127, 80]  # orange
+      "lime": [153, 255, 51]        # lime green
+      "bowl": [1, 172, 142] 
+      "fork": [120, 120, 120]	    # silver
+      "glass": [255, 2, 1]	    # red
+      "cracker": [255, 255, 0]	    # yellow
+
+    # optional: provide a transform that is applied to the pose returned by DOPE
+    # model_transforms:
+    #    "test": [[0, 0, 1, 0], [0, -1, 0, 0], [1, 0, 0, 0], [0, 0, 0, 1]]
+
+    # optional: if you provide a mesh of the object here, a mesh marker will be
+    # published for visualization in RViz
+    meshes:
+      #"apple": "/home/workstation/dope_ros_ws/src/grasp_dope/scripts/models/Apple/Apple_4K/food_apple_01_4k_simplify.obj"
+      #"santal_ace": "/home/sfederico/Documents/cad_models/santal_ace/santal_centered.obj"
+      "lime" : "package://dope_ros2/meshes/Lime.obj"
+      "bowl" : "package://dope_ros2/meshes/bowl.obj"
+      "glass" : "package://dope_ros2/meshes/simple_glass.obj"
+      "fork" : "package://dope_ros2/meshes/fork.obj"
+      "cracker": "package://dope_ros2/meshes/cracker_box.obj"
+
+
+    mesh_scales:
+      "apple": 1.0
+      "santal_ace": 0.001
+      "lime" : 1.0
+      "bowl": 0.001
+      "fork": 1.0
+      "glass": 1.0
+      "cracker": 1.0
+
+    overlay_belief_images: true # Whether to overlay the input image on the belief images published on /dope/belief_[obj_name]
+
+    # Config params for DOPE
+    thresh_angle: 0.5
+    thresh_map: 0.0001
+    sigma: 3
+    thresh_points: 0.1