search

qcr / benchbot

BenchBot is a tool for seamlessly testing & evaluating semantic scene understanding tools in both realistic 3D simulation & on real robots
BSD 3-Clause "New" or "Revised" License
110 stars 12 forks source link

Make semantics available from Omniverse #73

Open david2611 opened 2 years ago

david2611 commented 2 years ago

When switching to the Omniverse simulator, class and instance segmentation sensors have been removed.

likely steps for fixing:

  1. Enabling topic in the carter.usd
  2. Update/understand new semantic/instance encoding (label ids to classes) - Note may need to add content to benchbot_robot_controller to use benchbot_msgs/SegmentImgs or update system that interprets ROS message (robot controller callback)
  3. Update connections in carter yaml
  4. Reupload robots_sim_omni zip and update add-on
  5. Check ROS level topic is available and data makes sense