Nvidia Isaac ROS Centerpose: No pose data

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello, I was trying to get a 6DoF pose estimation using Isaac ROS Centerpose of a shoe object in space. I was able to get some results and visualize the bounding box around my shoe in rviz2. However, I do not get any Pose/Position and Pose/Rotation data. What is the problem here?

This is an example when I do an echo on the centerpose/detections topic:

header:
stamp:
sec: 1713261112
nanosec: 220293160
frame_id: tf_camera
detections:

  • header:
    stamp:
    sec: 1713261112
    nanosec: 220293160
    frame_id: tf_camera
    results:
    • hypothesis:
      class_id: shoe
      score: 0.8590003252029419
      pose:
      pose:
      position:
      x: 0.0
      y: 0.0
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      covariance:
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
        bbox:
        center:
        position:
        x: -0.7828235030174255
        y: 0.0868821069598198
        z: 4.664483547210693
        orientation:
        x: -0.4204847371884748
        y: 0.06276292885861255
        z: -0.9035868337968012
        w: 0.052765844461165876
        size:
        x: 1.118813395500183
        y: 1.002090573310852
        z: 2.751826524734497
        id: ‘’

Screenshot from 2024-04-15 16-15-04
Screenshot from 2024-04-15 16-15-041920×1200 366 KB

2

Hi @rubenponsaers

I noticed on your output the BoundingBox3D bbox message contains the position and orientation of your shoe.

bbox:
center:
position:
x: -0.7828235030174255
y: 0.0868821069598198
z: 4.664483547210693
orientation:
x: -0.4204847371884748
y: 0.06276292885861255
z: -0.9035868337968012
w: 0.052765844461165876
size:
x: 1.118813395500183
y: 1.002090573310852
z: 2.751826524734497
id: ‘’

The ObjectHypothesisWithPose part does not contain the position and orientation, but only the class_id and score.
We are investigating why this mismatch and I will report to you soon.

Thank you in advance
Raffaello

3

Okay thank you! I have a deadline soon, hopelfully you have a fix by next wee :) But otherwise, thank you for helping me!