Running ROS master | camera node | DOPE node | rviz node

The camera must publish a correct camera_info topic to enable DOPE to compute the correct poses. Basically all ROS drivers have a camera_info_url parameter where you can set the calibration info (but most ROS drivers include a reasonable default).

topic_camera: RGB topic to listen to
topic_camera_info: camera info topic to listen to
topic_publishing: topic namespace for publishing
input_is_rectified: Whether the input images are rectified. It is strongly suggested to use a rectified input topic.
downscale_height: If the input image is larger than this, scale it down to this pixel height. Very large input images eat up all the GPU memory and slow down inference. Also, DOPE works best when the object size (in pixels) has appeared in the training data (which is downscaled to 400 px). For these reasons, downscaling large input images to something reasonable (e.g., 400-500 px) improves memory consumption, inference speed and recognition results.
weights: dictionary of object names and there weights path name, comment out any line to disable detection/estimation of that object
dimensions: dictionary of dimensions for the objects (key values must match the weights names)
class_ids: dictionary of class ids to be used in the messages published on the /dope/detected_objects topic (key values must match the weights names)
draw_colors: dictionary of object colors (key values must match the weights names)
model_transforms: dictionary of transforms that are applied to the pose before publishing (key values must match the weights names)
meshes: dictionary of mesh filenames for visualization (key values must match the weights names)
mesh_scales: dictionary of scaling factors for the visualization meshes (key values must match the weights names)
thresh_angle: undocumented
thresh_map: undocumented
sigma: undocumented
thresh_points: Thresholding the confidence for object detection; increase this value if you see too many false positives, reduce it if objects are not detected.