$ git clone --recursive [email protected]:jinglinjackychen/dope.git
You can run this code on a GPU computer and CPU computer, but if you want to execute DOPE program, please change GPU computer to run
| Device | GPU | IP |
|---|---|---|
| LoCoBot | No | 10.0.0.2 and 192.168.50.2 |
| VR PC | Yes | 10.0.0.3 |
| DOPE PC | Yes | 192.168.50.3 |
$ cd Docker && source build.sh
Download the weights and save them to the weights folder, i.e., ~/catkin_ws/src/Deep_Object_Pose/weights/.
On LoCoBot, make sure LoCoBot connect to VPN server
$ cd Docker && source docker_run.sh cpu
Docker$ cd catkin_ws && catkin_make
Docker$ source environment.sh 192.168.50.2 192.168.50.2
Docker$ roslaunch realsense2_camera rs_rgbd.launch
Docker$ roslaunch rosbridge_server rosbridge_websocket.launch
On DOPE PC
$ cd Docker && source docker_run.sh gpu
Docker$ cd catkin_ws && catkin_make
Docker$ source environment.sh 192.168.50.2 192.168.50.3
Docker$ rosrun image_transport republish compressed in:=/camera/color/image_raw raw out:=/dope/image_raw
Docker$ roslaunch dope dope.launch
$ cd Docker && source docker_join.sh
Docker$ source environment.sh ros_master_ip ros_ip
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