2 Quick Questions on Foundation Pose

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi
I have to say that Foundation Pose is pretty cool. Thanks for making it available. I do have 2 questions that have come up.

  1. Is there a way other than restarting the foundation pose node to be able to change the target object, i.e., to re-initialize the system with a different mesh and texture? If not, that would be a really useful feature.
  2. The nvlabs version of Foundation Pose does not require a texture file, but it seems like this is required for the ROS2 version. Am I right? This isn’t a problem, but just curious.
2

Hi @brbl

First of all thank you for your post and your suggestion that I will forward to the engineers!

Let me reply to your questions:

No, at this time you need to restart the Isaac ROS package with a different setup, but I give you an hint.
Working with a ROS 2 launch file, you can write a python script able to restart the node and loading a different yml file.

I have forwarded this question to the engineers for a more detailed response. By examining the source code, we aim to better visualize the output on ROS, but please await confirmation.

Best,
Raffaello

3

Hi @Raffaello are there any updates regarding whether the isaac ros version of foundation pose requires a texture file?

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