Large pose error between isaac_ros_foundationpose and NV foundationpose

[wengdunfang]

Hi , I used the demo_data of NV foundationpose to test the effect of isaac_ros_foundationpose, but the result was very poor.

Hardware: Orin AGX 64G Soft: Ubuntu2204 Jetpack6.0 I operate in full accordance with the official isaac_ros_foundaitonpose. The PY file I generated for ros2 topic is: inputAll_rosDepthMaskRgbDemo.zip (1.5 KB) My launch file is: isaac_ros_foundationpose.launch.py.zip (1.8 KB)

NV foundationpose: pose 0.60706 -0.25581 0.752346 -0.4481580 -0.7754 -0.39773 0.490446 0.1188301 0.17376 -0.88111 -0.439814 0.801678 0 0 0 1 isaac_ros_foundationpose: pose 0.63274191 0.41554977 0.65341875 -0.43281102 -0.73410747 0.59042317 0.33539037 0.13828093 -0.24642217 -0.69189513 0.67864368 0.78675467 0 0 0 1

https://forums.developer.nvidia.com/t/isaac-ros-foundationpose-and-nv-foundaitonpose/316592

[panjj1125]

hi, have you solved the problems yet. I have the same problem