Package Summary

Tags No category tags.
Version 2.6.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The ros client for roboception grasp generation modules

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Monika Florek-Jasinska

ROS client for Roboception's grasp generation modules

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

  • host: The IP address or hostname of the rc_visard that should be calibrated

Dynamic reconfigure parameters

  • load_carrier_crop_distance: Safety margin in meters by which the load carrier inner dimensions are reduced to define the region of interest for grasp computation
  • load_carrier_model_tolerance: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
  • clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
  • clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
  • clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.

Services

The following services are offered by the node:

  • start: Starts the component.
  • stop: Stops the component.
  • set_region_of_interest: Persistently stores a region of interest on the rc_visard.
  • get_region_of_interests: Returns the configured regions of interest with the requested region_of_interest_ids. If no region_of_interest_ids are provided, all configured regions of interest are returned.
  • delete_regions_of_interest: Deletes the configured regions of interest with the requested region_of_interest_ids
  • set_load_carrier: Persistently stores a load carrier on the rc_visard.
  • get_load_carriers: Returns the configured load carriers with the requested load_carrier_ids. If no load_carrier_ids are provided, all configured load carriers are returned.
  • delete_load_carriers: Deletes the configured load carriers with the requested load_carrier_ids
  • detect_load_carrier: Triggers a load carrier detection.
  • compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.

Launching

Using command line parameters:

rosrun rc_pick_client rc_itempick_client_node _host:=sensor_ip
CHANGELOG

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

  • add missing visualization_msgs dependency

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

  • first release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged rc_pick_client at answers.ros.org

Package Summary

Tags No category tags.
Version 2.6.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The ros client for roboception grasp generation modules

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Monika Florek-Jasinska

ROS client for Roboception's grasp generation modules

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

  • host: The IP address or hostname of the rc_visard that should be calibrated

Dynamic reconfigure parameters

  • load_carrier_crop_distance: Safety margin in meters by which the load carrier inner dimensions are reduced to define the region of interest for grasp computation
  • load_carrier_model_tolerance: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
  • clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
  • clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
  • clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.

Services

The following services are offered by the node:

  • start: Starts the component.
  • stop: Stops the component.
  • set_region_of_interest: Persistently stores a region of interest on the rc_visard.
  • get_region_of_interests: Returns the configured regions of interest with the requested region_of_interest_ids. If no region_of_interest_ids are provided, all configured regions of interest are returned.
  • delete_regions_of_interest: Deletes the configured regions of interest with the requested region_of_interest_ids
  • set_load_carrier: Persistently stores a load carrier on the rc_visard.
  • get_load_carriers: Returns the configured load carriers with the requested load_carrier_ids. If no load_carrier_ids are provided, all configured load carriers are returned.
  • delete_load_carriers: Deletes the configured load carriers with the requested load_carrier_ids
  • detect_load_carrier: Triggers a load carrier detection.
  • compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.

Launching

Using command line parameters:

rosrun rc_pick_client rc_itempick_client_node _host:=sensor_ip
CHANGELOG

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

  • add missing visualization_msgs dependency

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

  • first release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged rc_pick_client at answers.ros.org

Package Summary

Tags No category tags.
Version 2.6.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The ros client for roboception grasp generation modules

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Monika Florek-Jasinska

ROS client for Roboception's grasp generation modules

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

  • host: The IP address or hostname of the rc_visard that should be calibrated

Dynamic reconfigure parameters

  • load_carrier_crop_distance: Safety margin in meters by which the load carrier inner dimensions are reduced to define the region of interest for grasp computation
  • load_carrier_model_tolerance: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
  • clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
  • clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
  • clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.

Services

The following services are offered by the node:

  • start: Starts the component.
  • stop: Stops the component.
  • set_region_of_interest: Persistently stores a region of interest on the rc_visard.
  • get_region_of_interests: Returns the configured regions of interest with the requested region_of_interest_ids. If no region_of_interest_ids are provided, all configured regions of interest are returned.
  • delete_regions_of_interest: Deletes the configured regions of interest with the requested region_of_interest_ids
  • set_load_carrier: Persistently stores a load carrier on the rc_visard.
  • get_load_carriers: Returns the configured load carriers with the requested load_carrier_ids. If no load_carrier_ids are provided, all configured load carriers are returned.
  • delete_load_carriers: Deletes the configured load carriers with the requested load_carrier_ids
  • detect_load_carrier: Triggers a load carrier detection.
  • compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.

Launching

Using command line parameters:

rosrun rc_pick_client rc_itempick_client_node _host:=sensor_ip
CHANGELOG

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

  • add missing visualization_msgs dependency

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

  • first release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged rc_pick_client at answers.ros.org

Package Summary

Tags No category tags.
Version 2.6.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboception/rc_visard_ros.git
VCS Type git
VCS Version master
Last Updated 2019-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

The ros client for roboception grasp generation modules

Additional Links

Maintainers

  • Felix Ruess

Authors

  • Monika Florek-Jasinska

ROS client for Roboception's grasp generation modules

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

  • host: The IP address or hostname of the rc_visard that should be calibrated

Dynamic reconfigure parameters

  • load_carrier_crop_distance: Safety margin in meters by which the load carrier inner dimensions are reduced to define the region of interest for grasp computation
  • load_carrier_model_tolerance: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
  • cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
  • clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
  • clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
  • clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.

Services

The following services are offered by the node:

  • start: Starts the component.
  • stop: Stops the component.
  • set_region_of_interest: Persistently stores a region of interest on the rc_visard.
  • get_region_of_interests: Returns the configured regions of interest with the requested region_of_interest_ids. If no region_of_interest_ids are provided, all configured regions of interest are returned.
  • delete_regions_of_interest: Deletes the configured regions of interest with the requested region_of_interest_ids
  • set_load_carrier: Persistently stores a load carrier on the rc_visard.
  • get_load_carriers: Returns the configured load carriers with the requested load_carrier_ids. If no load_carrier_ids are provided, all configured load carriers are returned.
  • delete_load_carriers: Deletes the configured load carriers with the requested load_carrier_ids
  • detect_load_carrier: Triggers a load carrier detection.
  • compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.

Launching

Using command line parameters:

rosrun rc_pick_client rc_itempick_client_node _host:=sensor_ip
CHANGELOG

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

  • add missing visualization_msgs dependency

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

  • first release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged rc_pick_client at answers.ros.org