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.
host: The IP address or hostname of the rc_visard that should be used
Since version 2.7, the device ID can be used instead of the sensor's IP address:
device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
serial number, e.g.
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.
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.
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.
For the BoxPick node, an additional service is offered:
detect_items: Triggers the detection of rectangles.
Using command line parameters:
For the ItemPick module:
Since version 2.7:
For the BoxPick module:
Since version 2.7: