CadMatchDetectObject

This is a ROS service definition.

Source

# Description: Triggers detection of an object.

# Required
string template_id

# Required. Pose frame for output poses (valid values are camera and external)
string pose_frame

# Optional
string region_of_interest_id

# Optional
string load_carrier_id

# Optional
Compartment load_carrier_compartment

# Required only if reference frame = external and sensor is robot-mounted
geometry_msgs/Pose robot_pose

# Optional. Enables collision checking of grasps with load carrier
CollisionDetection collision_detection

# Optional
string[] pose_prior_ids

# Optional. Whether to capture images or use last ones. Can be 'USE_LAST' or 'CAPTURE_NEW' (default).
string data_acquisition_mode

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builtin_interfaces/Time timestamp

# List of detected matches (instances) of the object
Match[] matches

Grasp[] grasps

LoadCarrier[] load_carriers

rc_common_msgs/ReturnCode return_code