ROS client for Roboception's grasp generation modules

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

• device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
  • serial number, e.g. 02912345. IMPORTANT: preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
  • user defined name (factory default is the name of the rc_visard's model), must be unique among all reachable sensors.
• host: If device is not used: The IP address or hostname of the rc_visard

Dynamic reconfigure parameters

• load_carrier_crop_distance: Safety margin in meters by which the load carrier inner dimensions are reduced to define the region of interest for grasp computation
• load_carrier_model_tolerance: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
• cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
• cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
• clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
• clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
• clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.

Services

The following services are offered by the node:

• start: Starts the component.
• stop: Stops the component.
• set_region_of_interest: Persistently stores a region of interest on the rc_visard.
• get_region_of_interests: Returns the configured regions of interest with the requested region_of_interest_ids. If no region_of_interest_ids are provided, all configured regions of interest are returned.
• delete_regions_of_interest: Deletes the configured regions of interest with the requested region_of_interest_ids
• set_load_carrier: Persistently stores a load carrier on the rc_visard.
• get_load_carriers: Returns the configured load carriers with the requested load_carrier_ids. If no load_carrier_ids are provided, all configured load carriers are returned.
• delete_load_carriers: Deletes the configured load carriers with the requested load_carrier_ids
• detect_load_carrier: Triggers a load carrier detection.
• compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.
• detect_filling_level: Triggers the detection of the given load carriers and their filling level.

For the BoxPick node, an additional service is offered:

• detect_items: Triggers the detection of rectangles.

Launch

Using command line parameters:

For the ItemPick module:

rosrun rc_pick_client rc_itempick_client_node _device:=:<serial_number>

For the BoxPick module:

rosrun rc_pick_client rc_boxpick_client_node _device:=:<serial_number>