Tutorial to Switch Mesh during Runtime#

Overview#

This tutorial walks you through the steps to switch the mesh for a different object for FoundationPose during runtime.

Note

The runtime switching of the mesh is only supported for the pose estimation node. It may lead to unexpected behavior if used with the tracking node.

Tutorial Walkthrough#

  1. Complete the Isaac ROS FoundationPose Quickstart Guide.

  2. Keep FoundationPose running, and open a new terminal and activate the Isaac ROS environment:

    isaac-ros activate

  3. Run the following command to switch the mesh during runtime:

    ros2 param set /foundationpose mesh_file_path "<path_to_new_object_mesh>"

  4. (Optional) If you have multiple parameters associated with the mesh, you can create a YAML file with the parameters and run the following command to switch the mesh during runtime:

    ros2 param load /foundationpose "<path_to_new_mesh_parameters>"

    The following parameters associated with the mesh are supported to be switched during runtime:

    • mesh_file_path

    • symmetry_axes

    • symmetry_planes

    • fixed_translations

    • fixed_axis_angles

    • rot_normalizer

    • score_crop_ratio