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Dependency

$sudo apt install -y ros-melodic-desktop-full python-rosdep python-rosinstall \
                     ros-melodic-apriltag-ros \
                     ros-melodic-moveit \
                     ros-melodic-moveit-visual-tools \
                     ros-melodic-fetch* \
                     ros-melodic-cartographer-ros \
                     ros-melodic-trac-ik-kinematics-plugin \
                     ros-melodic-camera-calibration \
                     ros-melodic-pointgrey-camera-description \
                     ros-melodic-flexbe-behavior-engine \
                     ros-melodic-trac-ik \
                     ros-melodic-realsense2-description \
                     ros-melodic-effort-controllers

Init submodules

$ git submodule update --init --recursive

Build

$ catkin_make
$ source devel/setup.bash

Launch

Object 6D Pose Estimation

Please download the source from here, and launch it before executing the demo.(Our docker image already contains it.)

$ conda activate NOCS-env
$ source ~/nocs_ws/devel/setup.bash
$ roslaunch nocs_srv pose_estimation_server.launch

Gazebo simulation

$ roslaunch fetch_sim demo.launch
$ roslaunch fetch_sim robot_service.launch

Real Fetch Robot

$ roslaunch fetch_real demo.launch
$ roslaunch fetch_real robot_service.launch

Website for our tutorials: https://github.com/momantu

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