HintedHandleEstimator¶
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
)This topic is advertised but not published for now.
~handle
(jsk_recognition_msgs/SimpleHandle
)Estimated handle pose with handle width.
~debug_marker
(visualization_msgs/Marker
)the result of calculating handle direction
~debug_marker_array
(visualization_msgs/MarkerArray
)estimated handle visualization
Parameters¶
~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:0.02
)
Sample¶
roslaunch jsk_pcl_ros sample_hinted_handle_estimator.launch