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simple_grasping package from simple_grasping repo

simple_grasping

Package Summary

Tags No category tags.
Version 0.4.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/simple_grasping.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Basic grasping applications and demos.

Additional Links

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson

simple_grasping

ROS2 components for simple perception and grasping.

Basic Grasping Perception Node

The most common use of this package is to run the basic_grasping_perception_node. This node connects to an RGBD camera and offers a find_objects action server.

The node can be run with visualization using:

ros2 run simple_grasping basic_grasping_perception_node --ros-args -p debug_topics:=true

Parameters

In addition to the following parameters, this node supports all of the same parameters as the

  • debug_topics - If true, debug topics will be published. Default: false.
  • continuous_detection - If true, will continuously segment objects and support surfaces. This is only useful if using the debug topics downstream. Default: false.
  • frame_id - frame ID that RGBD point cloud should be transformed into - the “world frame”. Default: “base_link”.

Subscribed Topics

  • /head_camera/depth_registered/points - RGBD camera input.

Published Topics

  • object_cloud - Colorized point cloud of objects detected. Only published if debug_topics is set to true.
  • surface_cloud - Colorized point cloud of surfaces detected. Only published if debug_topics is set to true.

Actions

  • find_objects - primary action interface, of type grasping_msgs::action::FindGraspableObjectsAction. Returns an array of grasping_msgs::msg::GraspableObjects and an array of support surfaces as grasping_msgs::msg::Object

For an example using this node, see ubr1_demo in the ubr_reloaded package.

Standalone Grasp Planner

The grasp planner can also be run standalone using grasp_planner_node.

Parameters

The grasp planner works for a parallel jaw gripper.

  • gripper/left_joint - name of the left gripper joint. Default: “l_gripper_finger_joint”.
  • gripper/right_joint - name of the right gripper joint. Default: “r_gripper_finger_joint”.
  • gripper/max_opening - maximum opening of the gripper, in meters. Default: 0.110.
  • gripper/max_effort - maximum effort of the gripper, in Newtons. Default: 50.0.
  • gripper/finger_depth - length of the gripper fingers, in meters. The grasp will be centered in this region. Default: 0.02.
  • gripper/grasp_duration - maximum amount of time to wait for gripper to close, in seconds. Default: 2.0.
  • gripper/gripper_tolerance - the gripper will open at least this much larger than the object. Size in meters. Default: 0.02.
  • gripper/approach/frame - name of the robot link the approach portion of the grasp will be referenced to. Default: “wrist_roll_link”.
  • gripper/approach/min - minimum distance that gripper needs to approach, in meters. Default: 0.1.
  • gripper/approach/max - maximum distance that gripper should use for approach, in meters. Default: 0.15.
  • gripper/retreat/frame - name of the robot link the retreat portion of the grasp will be referenced to. Default: “wrist_roll_link”.
  • gripper/retreat/min - minimum distance that gripper needs to retreat, in meters. Default: 0.1.
  • gripper/retreat/max - maximum distance that gripper should use for retreat, in meters. Default: 0.15.
  • gripper/tool_to_planning_frame - distance between planning frame and tool frame, in meters. The planning frame is usually the last wrist frame and so this distance offsets the “tool” location, which is usually the center of the gripper fingers, from that wrist frame. Default: 0.165.

Actions

  • plan - primary action interface, of type grasping_msgs::action::GraspPlanningAction. Returns an array of moveit_msgs::msg::Grasp for a given object.
CHANGELOG

Changelog for package simple_grasping

0.3.1 (2018-08-14)

  • insert proper key name
  • Contributors: Michael Ferguson

0.3.0 (2018-08-14)

  • Merge pull request #4 from mikaelarguedas/patch-1 add libvtk6-qt-dev dependency to build on Debian Stretch
  • add libvtk6-qt-dev dependency to build on Debian Stretch the [libpcl-dev]{.title-ref} package is missing a dependency causing the [Qt5::Widgets]{.title-ref} target to be exported but not satisfied.
  • Contributors: Michael Ferguson, Mikael Arguedas

0.2.2 (2015-04-24)

  • parameterize gripper opening tolerance
  • Contributors: Michael Ferguson

0.2.1 (2015-04-05)

  • create standalone grasp_planner_node
  • Contributors: Michael Ferguson

0.2.0 (2015-03-18)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged simple_grasping at Robotics Stack Exchange

No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.

simple_grasping package from simple_grasping repo

simple_grasping

Package Summary

Tags No category tags.
Version 0.4.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/simple_grasping.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Basic grasping applications and demos.

Additional Links

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson

simple_grasping

ROS2 components for simple perception and grasping.

Basic Grasping Perception Node

The most common use of this package is to run the basic_grasping_perception_node. This node connects to an RGBD camera and offers a find_objects action server.

The node can be run with visualization using:

ros2 run simple_grasping basic_grasping_perception_node --ros-args -p debug_topics:=true

Parameters

In addition to the following parameters, this node supports all of the same parameters as the

  • debug_topics - If true, debug topics will be published. Default: false.
  • continuous_detection - If true, will continuously segment objects and support surfaces. This is only useful if using the debug topics downstream. Default: false.
  • frame_id - frame ID that RGBD point cloud should be transformed into - the “world frame”. Default: “base_link”.

Subscribed Topics

  • /head_camera/depth_registered/points - RGBD camera input.

Published Topics

  • object_cloud - Colorized point cloud of objects detected. Only published if debug_topics is set to true.
  • surface_cloud - Colorized point cloud of surfaces detected. Only published if debug_topics is set to true.

Actions

  • find_objects - primary action interface, of type grasping_msgs::action::FindGraspableObjectsAction. Returns an array of grasping_msgs::msg::GraspableObjects and an array of support surfaces as grasping_msgs::msg::Object

For an example using this node, see ubr1_demo in the ubr_reloaded package.

Standalone Grasp Planner

The grasp planner can also be run standalone using grasp_planner_node.

Parameters

The grasp planner works for a parallel jaw gripper.

  • gripper/left_joint - name of the left gripper joint. Default: “l_gripper_finger_joint”.
  • gripper/right_joint - name of the right gripper joint. Default: “r_gripper_finger_joint”.
  • gripper/max_opening - maximum opening of the gripper, in meters. Default: 0.110.
  • gripper/max_effort - maximum effort of the gripper, in Newtons. Default: 50.0.
  • gripper/finger_depth - length of the gripper fingers, in meters. The grasp will be centered in this region. Default: 0.02.
  • gripper/grasp_duration - maximum amount of time to wait for gripper to close, in seconds. Default: 2.0.
  • gripper/gripper_tolerance - the gripper will open at least this much larger than the object. Size in meters. Default: 0.02.
  • gripper/approach/frame - name of the robot link the approach portion of the grasp will be referenced to. Default: “wrist_roll_link”.
  • gripper/approach/min - minimum distance that gripper needs to approach, in meters. Default: 0.1.
  • gripper/approach/max - maximum distance that gripper should use for approach, in meters. Default: 0.15.
  • gripper/retreat/frame - name of the robot link the retreat portion of the grasp will be referenced to. Default: “wrist_roll_link”.
  • gripper/retreat/min - minimum distance that gripper needs to retreat, in meters. Default: 0.1.
  • gripper/retreat/max - maximum distance that gripper should use for retreat, in meters. Default: 0.15.
  • gripper/tool_to_planning_frame - distance between planning frame and tool frame, in meters. The planning frame is usually the last wrist frame and so this distance offsets the “tool” location, which is usually the center of the gripper fingers, from that wrist frame. Default: 0.165.

Actions

  • plan - primary action interface, of type grasping_msgs::action::GraspPlanningAction. Returns an array of moveit_msgs::msg::Grasp for a given object.
CHANGELOG

Changelog for package simple_grasping

0.3.1 (2018-08-14)

  • insert proper key name
  • Contributors: Michael Ferguson

0.3.0 (2018-08-14)

  • Merge pull request #4 from mikaelarguedas/patch-1 add libvtk6-qt-dev dependency to build on Debian Stretch
  • add libvtk6-qt-dev dependency to build on Debian Stretch the [libpcl-dev]{.title-ref} package is missing a dependency causing the [Qt5::Widgets]{.title-ref} target to be exported but not satisfied.
  • Contributors: Michael Ferguson, Mikael Arguedas

0.2.2 (2015-04-24)

  • parameterize gripper opening tolerance
  • Contributors: Michael Ferguson

0.2.1 (2015-04-05)

  • create standalone grasp_planner_node
  • Contributors: Michael Ferguson

0.2.0 (2015-03-18)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged simple_grasping at Robotics Stack Exchange

simple_grasping package from simple_grasping repo

simple_grasping

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/simple_grasping.git
VCS Type git
VCS Version ros1
Last Updated 2023-04-24
Dev Status MAINTAINED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Basic grasping applications and demos.

Additional Links

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson

simple_grasping

ROS components for grasping

CHANGELOG

Changelog for package simple_grasping

0.4.1 (2023-04-24)

  • remove VTK dependency (#11) Debian stretch really isn't a target anymore, and apparently now we have other issues by specifying this dependency
  • add LICENSE file
  • Contributors: Michael Ferguson

0.4.0 (2021-01-13)

  • add depend on grasping_msgs, fix #5
  • Contributors: Michael Ferguson

0.3.1 (2018-08-14)

  • insert proper key name
  • Contributors: Michael Ferguson

0.3.0 (2018-08-14)

  • Merge pull request #4 from mikaelarguedas/patch-1 add libvtk6-qt-dev dependency to build on Debian Stretch
  • add libvtk6-qt-dev dependency to build on Debian Stretch the [libpcl-dev]{.title-ref} package is missing a dependency causing the [Qt5::Widgets]{.title-ref} target to be exported but not satisfied.
  • Contributors: Michael Ferguson, Mikael Arguedas

0.2.2 (2015-04-24)

  • parameterize gripper opening tolerance
  • Contributors: Michael Ferguson

0.2.1 (2015-04-05)

  • create standalone grasp_planner_node
  • Contributors: Michael Ferguson

0.2.0 (2015-03-18)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged simple_grasping at Robotics Stack Exchange

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.

simple_grasping package from simple_grasping repo

simple_grasping

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/simple_grasping.git
VCS Type git
VCS Version ros1
Last Updated 2023-04-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Basic grasping applications and demos.

Additional Links

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson

simple_grasping

ROS components for grasping

CHANGELOG

Changelog for package simple_grasping

0.4.1 (2023-04-24)

  • remove VTK dependency (#11) Debian stretch really isn't a target anymore, and apparently now we have other issues by specifying this dependency
  • add LICENSE file
  • Contributors: Michael Ferguson

0.4.0 (2021-01-13)

  • add depend on grasping_msgs, fix #5
  • Contributors: Michael Ferguson

0.3.1 (2018-08-14)

  • insert proper key name
  • Contributors: Michael Ferguson

0.3.0 (2018-08-14)

  • Merge pull request #4 from mikaelarguedas/patch-1 add libvtk6-qt-dev dependency to build on Debian Stretch
  • add libvtk6-qt-dev dependency to build on Debian Stretch the [libpcl-dev]{.title-ref} package is missing a dependency causing the [Qt5::Widgets]{.title-ref} target to be exported but not satisfied.
  • Contributors: Michael Ferguson, Mikael Arguedas

0.2.2 (2015-04-24)

  • parameterize gripper opening tolerance
  • Contributors: Michael Ferguson

0.2.1 (2015-04-05)

  • create standalone grasp_planner_node
  • Contributors: Michael Ferguson

0.2.0 (2015-03-18)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged simple_grasping at Robotics Stack Exchange

simple_grasping package from simple_grasping repo

simple_grasping

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/simple_grasping.git
VCS Type git
VCS Version ros1
Last Updated 2023-04-24
Dev Status MAINTAINED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Basic grasping applications and demos.

Additional Links

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson

simple_grasping

ROS components for grasping

CHANGELOG

Changelog for package simple_grasping

0.4.1 (2023-04-24)

  • remove VTK dependency (#11) Debian stretch really isn't a target anymore, and apparently now we have other issues by specifying this dependency
  • add LICENSE file
  • Contributors: Michael Ferguson

0.4.0 (2021-01-13)

  • add depend on grasping_msgs, fix #5
  • Contributors: Michael Ferguson

0.3.1 (2018-08-14)

  • insert proper key name
  • Contributors: Michael Ferguson

0.3.0 (2018-08-14)

  • Merge pull request #4 from mikaelarguedas/patch-1 add libvtk6-qt-dev dependency to build on Debian Stretch
  • add libvtk6-qt-dev dependency to build on Debian Stretch the [libpcl-dev]{.title-ref} package is missing a dependency causing the [Qt5::Widgets]{.title-ref} target to be exported but not satisfied.
  • Contributors: Michael Ferguson, Mikael Arguedas

0.2.2 (2015-04-24)

  • parameterize gripper opening tolerance
  • Contributors: Michael Ferguson

0.2.1 (2015-04-05)

  • create standalone grasp_planner_node
  • Contributors: Michael Ferguson

0.2.0 (2015-03-18)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged simple_grasping at Robotics Stack Exchange