[QUESTION] ROS topic for the scene graph

[clams-casino]

Hi,

I'm wondering if there is a ROS topic that publishes the current scene graph?

Thank you!

[nathanhhughes]

Hi, thanks for your interest in our work! By default, the DSG is published on the topic /incremental_dsg_builder_node/dsg (the visualizer launch file has the topic here as an argument). You can see an example of how to access the received scene graph here (we wrap the actual ros publisher with some code to handle reconstructing the scene graph from the ros message that we use to pass it around).

[clams-casino]

Thank you for the quick response!