Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
simple_grasping::BasicGraspingPerception Class Reference

ROS wrapper for shape grasp planner + object support segmentation. More...

Public Member Functions

 BasicGraspingPerception (ros::NodeHandle n)
 

Private Types

typedef actionlib::SimpleActionServer< grasping_msgs::FindGraspableObjectsAction > server_t
 

Private Member Functions

void cloudCallback (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud)
 
void executeCallback (const grasping_msgs::FindGraspableObjectsGoalConstPtr &goal)
 

Private Attributes

ros::Subscriber cloud_sub_
 
bool debug_
 
bool find_objects_
 
tf::TransformListener listener_
 
ros::NodeHandle nh_
 
ros::Publisher object_cloud_pub_
 
std::vector< grasping_msgs::Object > objects_
 
boost::shared_ptr< ShapeGraspPlannerplanner_
 
pcl::PassThrough< pcl::PointXYZRGB > range_filter_
 
boost::shared_ptr< ObjectSupportSegmentationsegmentation_
 
boost::shared_ptr< server_tserver_
 
ros::Publisher support_cloud_pub_
 
std::vector< grasping_msgs::Object > supports_
 
std::string world_frame_
 

Detailed Description

ROS wrapper for shape grasp planner + object support segmentation.

Definition at line 51 of file basic_grasping_perception.cpp.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<grasping_msgs::FindGraspableObjectsAction> simple_grasping::BasicGraspingPerception::server_t
private

Definition at line 53 of file basic_grasping_perception.cpp.

Constructor & Destructor Documentation

simple_grasping::BasicGraspingPerception::BasicGraspingPerception ( ros::NodeHandle  n)
inline

Definition at line 56 of file basic_grasping_perception.cpp.

Member Function Documentation

void simple_grasping::BasicGraspingPerception::cloudCallback ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &  cloud)
inlineprivate

Definition at line 100 of file basic_grasping_perception.cpp.

void simple_grasping::BasicGraspingPerception::executeCallback ( const grasping_msgs::FindGraspableObjectsGoalConstPtr &  goal)
inlineprivate

Definition at line 144 of file basic_grasping_perception.cpp.

Member Data Documentation

ros::Subscriber simple_grasping::BasicGraspingPerception::cloud_sub_
private

Definition at line 192 of file basic_grasping_perception.cpp.

bool simple_grasping::BasicGraspingPerception::debug_
private

Definition at line 183 of file basic_grasping_perception.cpp.

bool simple_grasping::BasicGraspingPerception::find_objects_
private

Definition at line 188 of file basic_grasping_perception.cpp.

tf::TransformListener simple_grasping::BasicGraspingPerception::listener_
private

Definition at line 185 of file basic_grasping_perception.cpp.

ros::NodeHandle simple_grasping::BasicGraspingPerception::nh_
private

Definition at line 181 of file basic_grasping_perception.cpp.

ros::Publisher simple_grasping::BasicGraspingPerception::object_cloud_pub_
private

Definition at line 193 of file basic_grasping_perception.cpp.

std::vector<grasping_msgs::Object> simple_grasping::BasicGraspingPerception::objects_
private

Definition at line 189 of file basic_grasping_perception.cpp.

boost::shared_ptr<ShapeGraspPlanner> simple_grasping::BasicGraspingPerception::planner_
private

Definition at line 196 of file basic_grasping_perception.cpp.

pcl::PassThrough<pcl::PointXYZRGB> simple_grasping::BasicGraspingPerception::range_filter_
private

Definition at line 201 of file basic_grasping_perception.cpp.

boost::shared_ptr<ObjectSupportSegmentation> simple_grasping::BasicGraspingPerception::segmentation_
private

Definition at line 197 of file basic_grasping_perception.cpp.

boost::shared_ptr<server_t> simple_grasping::BasicGraspingPerception::server_
private

Definition at line 199 of file basic_grasping_perception.cpp.

ros::Publisher simple_grasping::BasicGraspingPerception::support_cloud_pub_
private

Definition at line 194 of file basic_grasping_perception.cpp.

std::vector<grasping_msgs::Object> simple_grasping::BasicGraspingPerception::supports_
private

Definition at line 190 of file basic_grasping_perception.cpp.

std::string simple_grasping::BasicGraspingPerception::world_frame_
private

Definition at line 186 of file basic_grasping_perception.cpp.


The documentation for this class was generated from the following file:


simple_grasping
Author(s): Michael Ferguson
autogenerated on Wed Jun 5 2019 20:04:47