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crs_perception package from collaborative-robotic-sanding repo

crs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Collaborative Robotic Sanding Application
Checkout URI https://github.com/swri-robotics/collaborative-robotic-sanding.git
VCS Type git
VCS Version master
Last Updated 2021-01-29
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The perception nodes and library for the CRS project

Additional Links

No additional links.

Maintainers

  • ros-industrial

Authors

No additional authors.
crs_perception/README.md

Components

LocalizeToPart

Parameters

  • mesh_num_samples - Number of samples to take on the mesh for converting the part model into a point cloud
  • leaf_size - XYZ leaf size for the VoxelGrid (for data reduction) for converting the part model into a point cloud
  • part_frame - frame ID for the loaded part

    Services

  • load_part - Specifies the path to the part model (obj format)
  • localize_to_part - Takes a list of point clouds (multiple view points of an object) to run ICP against the refernce part previously loaded and returns a transform

    Test Node

    test_localize_to_part

    Parameters

  • point_cloud_files - List of pcd files that represent multiple view points of an object in the same fixed reference frame
  • part_file - Path to the model file to localize against

    Run

    In order to test the node, run the component and the tester node as follows

  • ros2 component standalone crs_perception crs_perception::LocalizeToPart
  • ros2 run crs_perception test_localize_to_part <parameters>
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged crs_perception at Robotics Stack Exchange

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