Detect a handle grasp pose from pointcloud and point as hint.

Subscribing Topic

  • ~cloud (sensor_msgs/PointCloud2)

    Input pointcloud

  • ~point (geometry_msgs/PointStamped)

    3D Point (You can get from rviz “Publish Point” or image_view2)

Publishing Topic

  • handle_pose (geometry_msgs::PoseStamped)

    estimated handle pose

  • handle_length (std_msgs::Float64)

    estimated handle length

  • debug_marker (visualization_msgs::Marker)

    the result of calculating handle direction

  • debug_marker_array (visualization_msg::MarkerArray)

    estimated handle visualization


  • ~finger_l (Float, default: 0.03)
  • ~finger_w (Float, default: 0.01)
  • ~finger_d (Float, default: 0.02)
  • ~arm_l (Float, default: 0.05)
  • ~arm_w (Float, default: 0.1)
  • ~arm_d (Float, default: 0.01)