HandleEstimator

What Is This

../../_images/handle_estimator.png

Estimate 6-DOF grasp pose candidates using bounding box.

This node is similar to jsk_pcl_ros/detect_graspable_poses_pcabase.py, but the differences are …

  • Publish pre-approach pose or not.
  • Candidates are the same position but different pose (former), or different position but the same pose (latter).

This node can also publish only selected pose.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

    Currently this topic is not used for estimation, but required.

    It must be synchronized with ~input_box.

  • ~input_box (jsk_recognition_msgs/BoundingBox)

    Input bounding box.

    Dimensions of bounding box are used to estimate handle type internally.

    So it is recommended that the box is aligned to the object using PCA or so.

  • ~selected_index (jsk_recognition_msgs/Int32Stamped)

    Pose index chosen from indices of ~output and ~output_preapproach.

Publishing Topic

  • ~output (geometry_msgs/PoseArray)

    Grasp pose candidates.

  • ~output_preapproach (geometry_msgs/PoseArray)

    Pre-approach poses of ~output.

  • ~output_best (geometry_msgs/PoseStamped)

    Suggested best grasp pose chosen from ~output.

  • ~output_selected (geometry_msgs/PoseStamped)

    Grasp pose selected by ~selected_index.

  • ~output_selected_preapproach (geometry_msgs/PoseStamped)

    Pre-approach poses of ~output_selected_preapproach.

Parameter

  • ~gripper_size (Float, default: 0.08)

    Gripper width of robot in meters.

    If all dimensions of input box are greater than this parameter, then the box will be estimated as ungraspable.

  • ~approach_offset (Float, default: 0.1)

    Offset from grasp point in meters.

    This parameter is used for calculating ~output_preapproach.

  • ~angle_divide_num (Int, default: 6)

    Number of grasp pose candidates.

Sample

roslaunch jsk_pcl_ros sample_handle_estimator.launch