Perception Pipeline (Percept Core)

Usage

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

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

Pipeline parameters:

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