# ROS-Wrapper

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

<br>

- Build container:
  ```bash
  docker build --progress=plain -t rapidposetriangulation_ros -f ros/dockerfile .
  ```

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

- Run and test:
  ```bash
  xhost +; docker compose -f ros/docker-compose.yml up

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

### Debugging

```bash
cd /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/tests/

g++ -std=c++17 -O3 -march=native -Wall -DCOMPILE_EXAMPLE_MAIN \
    $(pkg-config --cflags opencv4) \
    -I /onnxruntime/include \
    -I /onnxruntime/include/onnxruntime/core/session \
    -I /onnxruntime/include/onnxruntime/core/providers/tensorrt \
    -L /onnxruntime/build/Linux/Release \
    my_app.cpp \
    -o my_app \
    -Wl,--start-group \
      -lonnxruntime_providers_tensorrt \
      -lonnxruntime_providers_shared \
      -lonnxruntime_providers_cuda \
      -lonnxruntime \
    -Wl,--end-group \
    $(pkg-config --libs opencv4) \
    -Wl,-rpath,/onnxruntime/build/Linux/Release

./my_app
```