VADER Pose Estimation

Attribution

This repository belongs to Carnegie Mellon University, Masters of Science - Robotic Systems Development (MRSD) Team E - VADER

Maintainer: Kshitij

Team Members: Tom Gao, Abhishek Mathur, Rohit Satishkumar, Kshitij Madhav Bhat, Keerthi GV

First Revision: February 2025

Introduction and Overview

This repository holds our pose estimation/perception stack, in charge of publishing coarse and fine pose estimates of peppers in the view of the gripper palm D405 Realsense camera.

Installation & Usage

In your catkin workspace cd into src. Run the following commands to pull the latest version of vader_perception and other required packages.

git clone --depth 1 https://github.com/VADER-CMU/vader_perception.git
git clone https://github.com/VADER-CMU/vader_msgs.git
git clone https://github.com/VADER-CMU/realsense-ros.git

In the docker container, install gdown. (This will be added to vader_docker later)

pip install gdown

Catkin make in the catkin_ws

catkin_make
source devel/setup.bash

Launch the pose estimation node for the only the gripper camera

roslaunch vader_perception gripper_cam_pose_estimation.launch

Launch the pose estimation node for both cameras

roslaunch vader_perception dual_cam_pose_estimation.launch

Note: One of the cameras may not start. Roslaunch again in that case.