Generator of random bin poses. It provides /bin_pose service which returns a combination of 3 Poses - Grasp Point, Approach Point and Deapproach point. The Grasp point is located at a random pose in predefined Virtual Bin. The Approach point is located at the normal vector given by Grasp Point orientation and the Deapproach point is located right above the Grasp point.
roslaunch bin_pose_emulator bin_pose_emulator
Call ROS service with an Empty request:
rosservice call /bin_pose
grasp_pose: position: x: 0.582990474831 y: 0.132920391803 z: 0.110564293991 orientation: x: 0.113430335549 y: 0.71905280478 z: -0.119797227723 w: 0.675089066083 approach_pose: position: x: 0.589268137291 y: 0.132782671333 z: 0.210366960715 orientation: x: 0.113430335549 y: 0.71905280478 z: -0.119797227723 w: 0.675089066083 deapproach_pose: position: x: 0.582990474831 y: 0.132920391803 z: 0.260564299952 orientation: x: 0.113430335549 y: 0.71905280478 z: -0.119797227723 w: 0.675089066083
In order to simplify configuration and usage of this emulator, basic visualization is available - bin_pose_emulator publishes two messages to bin_pose_visualization topic. Use Marker view in RViz to visualize the pose of the virtual bin and the location of the current grasp point. Both Markers are published with base_link as a reference frame.
Virtual Bin is defined by bin_center_ and bin_size_ parameters, while allowed orientation is set by roll, pitch and yaw range. By default we assume that tool0 link of robot is aligned with vertical axis, pointing to the ground - RPY is [0,90,0]. roll_range, pitch_range and yaw_range extend default pose orientation into allowed grasp cone. Approach distance defines how far in direction of the normal vector given by the Grasp Point orientation is the Approach point. The deapproach_height configures height of vertical movement when moving away from the Grasp Point. Example config file is located at the onfig folder. Change launch file parameter filepath to adopt launch to your custom config file.
Example Yaml config file:
bin_center_x: 0.5 bin_center_y: 0 bin_center_z: 0.1 bin_size_x: 0.2 bin_size_y: 0.5 bin_size_z: 0.1 roll_default: 0 pitch_default: 3.14 yaw_default: 0 roll_range: 0.707 pitch_range: 0.707 yaw_range: 0.707 approach_distance: 0.1 deapproach_height: 0.15
Folowing video demonstrates the capabilities of bin_pose_emulator.