simple_grasping package from simple_grasping reposimple_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
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 ofgrasping_msgs::msg::GraspableObjects
and an array of support surfaces asgrasping_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 ofmoveit_msgs::msg::Grasp
for a given object.
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
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_cmake_cpplint | |
ament_cmake_gtest | |
geometry_msgs | |
grasping_msgs | |
moveit_msgs | |
pcl_ros | |
pcl_conversions | |
rclcpp | |
rclcpp_components | |
rclcpp_action | |
sensor_msgs | |
shape_msgs | |
tf2_ros |
System Dependencies
Name |
---|
eigen |
libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged simple_grasping at Robotics Stack Exchange
simple_grasping package from simple_grasping reposimple_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
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 ofgrasping_msgs::msg::GraspableObjects
and an array of support surfaces asgrasping_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 ofmoveit_msgs::msg::Grasp
for a given object.
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
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_cmake_cpplint | |
ament_cmake_gtest | |
geometry_msgs | |
grasping_msgs | |
moveit_msgs | |
pcl_ros | |
pcl_conversions | |
rclcpp | |
rclcpp_components | |
rclcpp_action | |
sensor_msgs | |
shape_msgs | |
tf2_ros |
System Dependencies
Name |
---|
eigen |
libpcl-all-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged simple_grasping at Robotics Stack Exchange
simple_grasping package from simple_grasping reposimple_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
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
simple_grasping
ROS components for grasping
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
Package Dependencies
Deps | Name |
---|---|
actionlib | |
cmake_modules | |
geometry_msgs | |
grasping_msgs | |
message_generation | |
moveit_msgs | |
pcl_ros | |
roscpp | |
sensor_msgs | |
shape_msgs | |
tf | |
catkin | |
moveit_python | |
message_runtime |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged simple_grasping at Robotics Stack Exchange
simple_grasping package from simple_grasping reposimple_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
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
simple_grasping
ROS components for grasping
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
Package Dependencies
Deps | Name |
---|---|
actionlib | |
cmake_modules | |
geometry_msgs | |
grasping_msgs | |
message_generation | |
moveit_msgs | |
pcl_ros | |
roscpp | |
sensor_msgs | |
shape_msgs | |
tf | |
catkin | |
moveit_python | |
message_runtime |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
fetch_gazebo_demo |
Launch files
Messages
Services
Plugins
Recent questions tagged simple_grasping at Robotics Stack Exchange
simple_grasping package from simple_grasping reposimple_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
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
simple_grasping
ROS components for grasping
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
Package Dependencies
Deps | Name |
---|---|
actionlib | |
cmake_modules | |
geometry_msgs | |
grasping_msgs | |
message_generation | |
moveit_msgs | |
pcl_ros | |
roscpp | |
sensor_msgs | |
shape_msgs | |
tf | |
catkin | |
moveit_python | |
message_runtime |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
fetch_gazebo_demo |