# ROS-Wrapper

Run pose estimator with ros topics as inputs and publish detected poses.

<br>

- Build container:

  ```bash
  docker build --progress=plain -t rapidposetriangulation_ros2d -f extras/ros/dockerfile_2d .
  docker build --progress=plain -t rapidposetriangulation_ros3d -f extras/ros/dockerfile_3d .
  ```

- Update or remove the `ROS_DOMAIN_ID` in the `docker-compose.yml` files to fit your environment

- Run and test:

  ```bash
  xhost + && export CAMID="camera01" && docker compose -f extras/ros/docker-compose-2d.yml up
  xhost + && docker compose -f extras/ros/docker-compose-3d.yml up

  docker exec -it ros-test_node-1 bash
  export ROS_DOMAIN_ID=18
  ```
