grasp_pcd.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
#include <SimpleGraspPlanner.h>
#include <geometry_msgs/Pose.h>

Include dependency graph for grasp_pcd.cpp:

Go to the source code of this file.

Defines
#define	MAX_HAND_POINTS   100
Functions
void	cloud_cb (const PointCloudConstPtr &cloud)
void	GetParams (ros::NodeHandle &n)
int	main (int argc, char *argv[])
Variables
Point3D	hand_points [MAX_HAND_POINTS]
double	param_start_side = 0.0
double	param_start_top = 0.0
ros::Publisher	pub
std::string	s_input_cloud_topic = "graspable_segments"
bool	s_need_cloud_data = true
std::string	s_output_cloud_topic = "hand_config"

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Define Documentation

#define MAX_HAND_POINTS   100

Definition at line 169 of file grasp_pcd.cpp.

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Function Documentation

void cloud_cb

(

const PointCloudConstPtr &

cloud

)

This callback calculates mean and cov from the incoming cloud and feeds it to sgp

> grasping target, in order to support obstacles this must be a list

The results can be Transformed r.g. with TransformPoint from the sgp library example would be:

Transform to quaternion

Calculate Trace

Definition at line 30 of file grasp_pcd.cpp.

void GetParams

(

ros::NodeHandle &

n

)

Definition at line 173 of file grasp_pcd.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 241 of file grasp_pcd.cpp.

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Variable Documentation

Point3D hand_points[MAX_HAND_POINTS]

Definition at line 171 of file grasp_pcd.cpp.

double param_start_side = 0.0

Definition at line 26 of file grasp_pcd.cpp.

double param_start_top = 0.0

These parameters depends on the rotation of the robot to the object only the first quadrant is searched, with this value the quadrant can be shifted. Robots might have different properties, so the quadrant to search might change for higher tables and higher grasps, so there are two values wich can be set on every query to sgp.

In this example we assume the object to be in the right orientation towards the robot.

Definition at line 25 of file grasp_pcd.cpp.

ros::Publisher pub

Definition at line 11 of file grasp_pcd.cpp.

std::string s_input_cloud_topic = "graspable_segments"

Definition at line 12 of file grasp_pcd.cpp.

bool s_need_cloud_data = true

Definition at line 10 of file grasp_pcd.cpp.

std::string s_output_cloud_topic = "hand_config"

Definition at line 13 of file grasp_pcd.cpp.