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Only released in EOL distros:  

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | simple_Jtranspose_controller | tabletop_collision_map_processing | tabletop_object_detector | tabletop_vfh_cluster_detector | vfh_recognition | vfh_recognizer_db | vfh_recognizer_fs

Package Summary

The pr2_grasp_adjust package provides an interface for finding grasp poses near a given input pose. The api includes a service server and an action server.

pr2_object_manipulation: active_realtime_segmentation | fast_plane_detection | manipulation_worlds | object_recognition_gui | object_segmentation_gui | pick_and_place_demo_app | pr2_create_object_model | pr2_grasp_adjust | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_handy_tools | pr2_interactive_gripper_pose_action | pr2_interactive_manipulation | pr2_interactive_object_detection | pr2_manipulation_controllers | pr2_marker_control | pr2_navigation_controllers | pr2_object_manipulation_launch | pr2_object_manipulation_msgs | pr2_pick_and_place_demos | pr2_pick_and_place_tutorial | pr2_tabletop_manipulation_launch | pr2_wrappers | rgbd_assembler | robot_self_filter_color | segmented_clutter_grasp_planner | tabletop_collision_map_processing | tabletop_object_detector | tf_throttle

Package Summary

The pr2_grasp_adjust package provides an interface for finding grasp poses near a given input pose. The api includes a service server and an action server.

Overview

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This package provides an interface for a grasp adjustment algorithm that finds suitable grasp poses near an input pose. This can be used to confirm or refine a pre-existing candidate grasp, such as one given by other grasp planners in the ROS grasp pipeline. Alternatively, the algorithm can be used to find grasps near the current gripper pose as the gripper moves around nearby objects.

Video

ROS API

API Stability

The ROS API is currently UNREVIEWED and UNSTABLE.

ROS Parameters

The default configuration of this package relies on several parameters being loaded onto the ROS parameter server. Currently this is done when the node is launched from grasp_adjust_server.launch. Users who wish to modify the default values can edit this file.

Many users may wish to modify some of these values temporarily and repeatedly during program run time. This can be done through the dynamic reconfigure server.

Some parameters belong in the private namespace of the node, others belong in a config/ or debug/ namespace below the private namespace, as given for each parameter below.

Parameters

load_debug_server (bool, default: False)

Parameters

config/centroid_weight (double, default: 10.0) config/symmetry_weight (double, default: 0.3) config/collision_weight (double, default: 1.0) config/normal_weight (double, default: -0.3) config/point_weight (double, default: -0.01) config/point_bonus (double, default: -1.0) config/search_mode (int, default: 0) config/search_6_dof (bool, default: True) config/grid_step_num (int, default: 1) config/search_window (int, default: 2) config/full_gradient_descents (int, default: 5) config/angular_step_size (double, default: 0.1 radians)

Parameters

debug/run_continuous (bool, default: False)


2019-06-15 12:59