# DetectGraspablePosesPcabase¶

## What Is This¶

Detect_graspable_poses_pcabase.py is a program which publishes pose array where a robot can grasp, using point cloud of a target object and PCA algorithm. In the above image, the grasp poses are visualized with the axies. Please transform input cloud to a flame which direction is the same as the robot (e.g. /BODY) before using this program.

The above image illustrates an example way to use this node. Axies represent poses where the robot can grasp.

## Subscribing Topic¶

• ~input (sensor_msgs/PointCloud2)

Input pointcloud. RGB field is required.

## Publishing Topic¶

• ~output/can_grasp_poses (geometry_msgs/PoseArray)

PoseArray where a robot can grasp.

## Parameters¶

• ~direction (Character, default: x)

From which direction a robot try to grasp a target object. (’x’: from the front, ‘z’: from the top)

• ~hand_width[m] (Float, default: 0.13)

How long a robot can spread its hand.

• ~interval_m[m] (Float, default: 0.04)

Interval between target poses. Please decrease this number if you want to detect more possible grasp poses.