Use resource_retriever for weight files

This allows using any url format that resource_retriever understands,
particularly `package://` URLs, so it becomes possible to load weight
files from other packages than `dope`.

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   geometry_msgs
   message_filters
+  resource_retriever
   rospy
   sensor_msgs
   std_msgs

config/config_pose.yaml

@@ -6,13 +6,13 @@ downscale_height: 500      # if the input image is larger than this, scale it do
 
 # Comment any of these lines to prevent detection / pose estimation of that object
 weights: {
-  "cracker":"cracker_60.pth", 
-   "gelatin":"gelatin_60.pth",
-   "meat":"meat_20.pth", 
-   "mustard":"mustard_60.pth", 
-   "soup":"soup_60.pth", 
-   "sugar":"sugar_60.pth",
-   "bleach":"bleach_28_dr.pth"
+    # "cracker":"package://dope/weights/cracker_60.pth",
+    # "gelatin":"package://dope/weights/gelatin_60.pth",
+    # "meat":"package://dope/weights/meat_20.pth",
+    # "mustard":"package://dope/weights/mustard_60.pth",
+    "soup":"package://dope/weights/soup_60.pth",
+    #"sugar":"package://dope/weights/sugar_60.pth"
+    # "bleach":"package://dope/weights/bleach_28_dr.pth"
 }
 
 # Cuboid dimension in cm x,y,z
@@ -23,8 +23,8 @@ dimensions: {
     "mustard": [9.6024150848388672,19.130100250244141,5.824894905090332],
     "soup": [6.7659378051757813,10.185500144958496,6.771425724029541],
     "sugar": [9.267730712890625,17.625339508056641,4.5134143829345703],
-    "bleach": [10.267730712890625,26.625339508056641,7.5134143829345703]
-        }
+    "bleach": [10.267730712890625,26.625339508056641,7.5134143829345703],
+}
 
 class_ids: {
     "cracker": 1,
@@ -44,7 +44,6 @@ draw_colors: {
     "soup": [255, 101, 0],  # orange
     "sugar": [232, 222, 12],  # yellow
     "bleach": [232, 222, 12],  # yellow
-
 }
 
 # optional: if you provide a mesh of the object here, a mesh marker will be

nodes/dope

@@ -14,6 +14,7 @@ from __future__ import print_function
 import cv2
 import message_filters
 import numpy as np
+import resource_retriever
 import rospkg
 import rospy
 import yaml
@@ -119,12 +120,11 @@ class DopeNode(object):
         self.config_detect.thresh_points = params["thresh_points"]
 
         # For each object to detect, load network model, create PNP solver, and start ROS publishers
-        path2package = rospkg.RosPack().get_path('dope')
         for model in params['weights']:
             self.models[model] = \
                 ModelData(
                     model,
-                    path2package + "/weights/" + params['weights'][model]
+                    resource_retriever.get_filename(params['weights'][model], use_protocol=False)
                 )
             self.models[model].load_net_model()
 

package.xml

@@ -53,6 +53,7 @@
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
   <depend>python-argparse</depend>
+  <depend>resource_retriever</depend>
   <depend>rospy</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>