GPD

Install

• go to perception/gpd/cfg/ros_eigen_params.cfg and change "weights_file" variable path to the one that matches your computer.
• go to perception/gpd/build/ and, in the terminal, do "cmake .." and then "sudo make install"
• go to perception/gpd_ros/ and, in the terminal, type "cbt" - it will build the package

Usage

Use the gpd function located in the manipulation API named "get_gpd_poses()"

• just have to give the object's class name and the object's pose in a PoseStamped() message. Important to notice. The frame_id is assumed to be the same as the depth image!