I did the Isaac isaac_ros_rtdetr and has worked fine and then i trained my own model Yolov8 on my custom 3D printed object and tryed isaac_ros_yolov8 and has worked too and then i tryed the foundationpose with sdetr_grasp.plan it worked too with my realsense D435 , and i can see the output in Rviz.
but my goal is to use YOLO with foundationpose so i change the :
isaac_ros_pose_estimation/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_core.launch.py
just like this one file that i found in forum; a lot of topics like /depth and /detections_output are empty and no segmentation or object detection is happening.
could someone help to modifie the core launch file and tell me what other file should be modified.
Welcome to the Isaac ROS forum, and thank you for your post!
From the launch file you provided, I didn’t see the RealSense node being included, so the camera pipeline appears to be missing. Did you launch it separately? The “/depth/”, “/depth_image”, and “/rgb/image_rect_color” topics are published by the RealSense node. Please ensure these topics are being published (you can check using, for example, ros2 topic hz /rgb/image_rect_color).
Additionally, there was a recent fix for missing /depth topic output from realsense_mono_rect_depth. Please make sure you have updated the package to the latest version.
as i said i tried foundationpose with normal RT-DEtR model and the realsense camera worked just fine. other topics are publishing depth but /depth is still empty and i tryed to reinstall foundationpose work space and still the same problem. So i need help in modification of the Launch script so it can launch with Yolo. and instructions how i can get this /depth if its needed and how the foundationpose find the banana without the topic /depth.
i hope u can help to make isaac_ros_foundationpose_core.launch.py that can work with yolo and tell me if another Files should be changed too.
To modify the foundationpose launch file to use yolo detector instead, please reference this thread. If you still observe the empty /depth topic, please consider update the RealSense package to include the latest fix for the no /depth output issue.
As there haven’t been any recent updates on this discussion, we’ll be closing the thread to keep the forum organized.
If you continue to experience this issue or have new questions, please start a new topic and include a reference to this discussion for context. This will help our team and other community members assist you more effectively.
Thank you for your participation in the NVIDIA Isaac ROS community.