Perception Pipeline (Percept Core)

Usage

Run Perception Pipeline:

ros2 launch percept rs_static.py enable_robot_body_subtraction:=false show_pipeline_delays:=false show_total_pipeline_delay:=false

Run Fake Hardware:

ros2 run percept fake_panda.py
ros2 run percept fake_realsense.py

Visualize the robot:

ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(cat assets/robots/franka_panda/panda_ros2.urdf)"

Pipeline parameters:

• enable_robot_body_subtraction: Enable robot body subtraction
• show_pipeline_delays: Show pipeline delays
• show_total_pipeline_delay: Show total pipeline delay