[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

rail_pick_and_place: graspdb | rail_grasp_collection | rail_pick_and_place_msgs | rail_pick_and_place_tools | rail_recognition

Package Summary

Grasp Collection for Constructing a Grasping and Recognition Database

rail_pick_and_place: graspdb | rail_grasp_collection | rail_pick_and_place_msgs | rail_pick_and_place_tools | rail_recognition

Package Summary

Grasp Collection for Constructing a Grasping and Recognition Database

About

The rail_grasp_collection package contains nodes to collect demonstration grasps for detected point cloud objects. These demonstrations can then be used to build object models for recognition and manipulation using the rail_recognition package. Demonstrations are stored in a grasp database, handled by graspdb.

Nodes

rail_grasp_collection

Collect demonstrated grasps with associated point clouds and store them in the grasp database.

Action Goal

rail_grasp_collection/grasp_and_store (rail_pick_and_place_msgs/GraspAndStoreGoal)

Action Result

rail_grasp_collection/grasp_and_store (rail_pick_and_place_msgs/GraspAndStoreResult)

Actions Called

gripper_action_server param (rail_manipulation_msgs/GripperAction) lift_action_server param (rail_manipulation_msgs/LiftAction) verify_grasp_action_server param (rail_manipulation_msgs/VerifyGraspAction)

Subscribed Topics

segmented_objects_topic param (rail_manipulation_msgs/SegmentedObjectList)

Published Topics

rail_grasp_collection/debug (sensor_msgs/PointCloud2)

Parameters

debug (bool, default: false) robot_fixed_frame_id (string, default: "base_footprint") eef_frame_id (string, default: "eef_link") segmented_objects_topic (string, default: "/segmentation/segmented_objects") gripper_action_server (string, default: "/manipulation/gripper") lift_action_server (string, default: "/manipulation/lift") verify_grasp_action_server (string, default: "/manipulation/verify_grasp") /graspdb/host (string, default: "127.0.0.1") /graspdb/port (int, default: graspdb::Client::DEFAULT_PORT) /graspdb/user (string, default: "ros") /graspdb/password (string, default: "") /graspdb/db (string, default: "graspdb")

rail_grasp_retriever

Retrieve stored grasps from the grasp database training set.

Action Goal

rail_grasp_retriever/retrieve_grasp (rail_pick_and_place_msgs/RetrieveGraspDemonstrationGoal)

Action Result

rail_grasp_retriever/retrieve_grasp (rail_pick_and_place_msgs/RetrieveGraspDemonstrationResult)

Published Topics

rail_grasp_retriever/point_cloud (sensor_msgs/PointCloud2) rail_grasp_retriever/pose (geometry_msgs/PoseStamped)

Parameters

/graspdb/host (string, default: "127.0.0.1") /graspdb/port (int, default: graspdb::Client::DEFAULT_PORT) /graspdb/user (string, default: "ros") /graspdb/password (string, default: "") /graspdb/db (string, default: "graspdb")

Installation

To install the rail_pick_and_place package, you can install from source with the following commands:

Startup

The rail_grasp_collection package contains launch files for launching either the rail_grasp_collection node or the rail_grasp_retriever node individually, and for launching both nodes together. These can be launched with the following commands, respectively:

Grasp collection can also be run and executed with an rviz plugin found in rail_pick_and_place_tools.


2019-07-13 13:02