Class ShapeGraspPlanner

• Defined in File shape_grasp_planner.h

Class Documentation

class ShapeGraspPlanner

A simple grasp planner that uses the bounding box shape to generate viable grasps.

Public Functions

explicit ShapeGraspPlanner(rclcpp::Node::SharedPtr node)

Constructor, loads grasp planner configuration from ROS params.

Parameters:

node – Node instance to use for accessing grasp planner parameters.

virtual int plan(const grasping_msgs::msg::Object &object, std::vector<moveit_msgs::msg::Grasp> &grasps)