This package is not developed anymore. New clients are available in the rc_reason_clients_ros repository.
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
On Debian/Ubuntu add the ROS sources and
This package relies on git submodules for the cpr library which need to be initialized before building from source.
device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
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.
deviceis not used: The IP address or hostname of the rc_visard
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.
max_grasps: Maximum number of provided grasps.
The following services are offered by the node:
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.
For the BoxPick node, an additional service is offered:
detect_items: Triggers the detection of rectangles.
Using command line parameters:
For the ItemPick module:
For the BoxPick module: