grasp_object_executor

grasp_object_executor

Overview

grasp_object_executor implements the Grasping Pipeline as a ROS Node.

Static Parameters

• Required by robot_model_loader::RobotModelLoader
  • robot_description (string)
  • robot_description_semantic (string)
• ~tracked_marker_id (int)
• ~tracked_marker_attached_link (string)
• ~marker_to_link_x (double)
• ~marker_to_link_y (double)
• ~marker_to_link_z (double)
• ~marker_to_link_roll_deg (double)
• ~marker_to_link_pitch_deg (double)
• ~marker_to_link_yaw_deg (double)
• ~manipulator_group_name (string)
• ~max_grasp_candidates (int)
• ~/stow_sequences (StowPosition[]) - StowPosition is a dictionary with keys 'name', 'type', and 'joint_vector_degs'.
• ~use_extrusion_octomap (bool)
• ~skip_viservo (bool)
• ~object_filter_radius_m (double)
• ~gas_can_detection_threshold (double)
• Required by rcta::GascanGraspPlanner
  • grasping/gas_canister_mesh_scale (double)
  • grasping/degree (int)
  • grasping/control_points (geometry_msgs/Point[])
  • grasping/wrist_to_tool_transform (geometry_msgs/Pose)
  • grasping/pregrasp_to_grasp_offset_m (double)

Subscribed Topics

• map (nav_msgs/OccupancyGrid)
• joint_states (sensor_msgs/JointState)
• tf (tf/tfMessage)

Published Topics

• costmap_filtered (nav_msgs/OccupancyGrid)
• extrusion_octomap (octomap_msgs/Octomap)
• attached_collision_object (moveit_msgs/AttachedCollisionObject)
• visualization_markers (visualization_msgs/MarkerArray)

Required Services

• check_state_validity (moveit_msgs/GetStateValidity)

Required Transforms

• "map" -> root frame

Required Actions

• "move_arm" (rcta/MoveArmAction)
• viservo_command (rcta/ViservoCommandAction) - only if skip_viservo is false
• right_gripper/gripper_action (control_msgs/GripperCommandAction)

Provided Actions

• grasp_object_command (rcta_msgs/GraspObjectCommandAction)