Report on baryon resonance production and decay in the exclusive $pp\rightarrow pp\pi^+\pi^-$ channel at a kinetic energy of 3.5 GeV based on data measured with HADES. The invariant masses and angular distributions of the pion-nucleon systems were compared to simulations based on a resonance model assuming an incoherent sum of contributions from baryonic resonances with masses < 2 GeV and using inputs from one pion measured in the same experiment. A very good description of the two pion production is achieved allowing for an estimate of one and double baryon-resonance as well as $\rho$ meson production cross sections.