File: tabletop_collision_map_processing/TabletopCollisionMapProcessing.srv
# given the result of a tabletop detection, adds the objects to
# the collision map and returns them as instances of GraspableObjects
# with correct collision names
# a list of clusters and database models, directly as produced by the detector
# note that it is possible to not set the Table inside here (leave its
# extents set to zero), in which case it does not get added to the environment
tabletop_object_detector/TabletopDetectionResult detection_result
# whether the current collision models should be reset before adding new models
bool reset_collision_models
# whether the current list of models attached to the robot should be reset
bool reset_attached_models
# whether the static map should be reset before before any other processing is done
bool reset_static_map
# whether a new static map should be taken after objects are added
bool take_static_collision_map
# what tf frame the results should be returned in
# if empty, results will be in the same frame as the input
string desired_frame
---
# the objects added to the collision environment and packaged as graspable objects
object_manipulation_msgs/GraspableObject[] graspable_objects
# the list of collision names that the objects got in the environment
# in the same order as graspable_objects
string[] collision_object_names
# the name that the table got in the collision map, if any
string collision_support_surface_name
Expanded Definition