ROS client for Roboception’s ItemPick and BoxPick modules

This package is not developed anymore. New clients are available in the rc_reason_clients_ros repository.

This node provides ROS service calls and parameters for ItemPick node. For detail description of the ItemPick module check rc_visard manual: https://doc.rc-visard.com/latest/en/itempick.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-pick-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

• device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
  • serial number, e.g. 02912345. IMPORTANT: preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
  • user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors.
• host: If device is not used: The IP address or hostname of the rc_visard

Dynamic reconfigure parameters

• cluster_max_dimension: Indicates how much the estimated load carrier dimensions are allowed to differ from the load carrier model dimensions in meters
• cluster_max_curvature: Maximum curvature allowed within one cluster. The smaller this value, the more clusters will be split apart.
• clustering_patch_size: Size in pixels of the square patches the depth map is subdivided into during the first clustering step
• clustering_max_surface_rmse: Maximum root-mean-square error (RMSE) in meters of points belonging to a surface
• clustering_discontinuity_factor: Factor used to discriminate depth discontinuities within a patch. The smaller this value, the more clusters will be split apart.
• max_grasps: Maximum number of provided grasps.

Services

The following services are offered by the node:

• compute_grasps: Triggers the computation of grasping poses for a suction device. All images used by the node are guaranteed to be newer than the service trigger time.

For the BoxPick node, an additional service is offered:

• detect_items: Triggers the detection of rectangles.

Launch

Using command line parameters:

For the ItemPick module:

rosrun rc_pick_client rc_itempick_client_node _device:=:<serial_number>

For the BoxPick module:

rosrun rc_pick_client rc_boxpick_client_node _device:=:<serial_number>

Changelog for package rc_pick_client

3.3.3 (2022-03-03)

3.3.2 (2022-02-18)

• actually remove dependency on shape_msgs

3.3.1 (2022-02-18)

3.3.0 (2022-02-08)

• remove load_carrier and ROI services
• remove load_carrier parameters

3.2.4 (2021-11-15)

3.2.3 (2021-08-03)

3.2.2 (2021-08-02)

3.2.1 (2021-02-11)

3.2.0 (2021-01-28)

• update cmake files for better version handling

3.1.0 (2020-11-17)

3.0.5 (2020-10-20)

3.0.4 (2020-09-23)

3.0.3 (2020-09-22)

3.0.1 (2020-05-14)

3.0.0 (2020-05-13)

• refactoring and cleanup
• add overfilled flag and detect_filling_level
• cleanup/consolidate messages
• new field collsion check added
• update cpr for support of curl >= 7.62.0 and set EXCLUDE_FROM_ALL to not install it
• update nlohmann json to 3.7.3
• Contributors: Felix Ruess, florek

2.7.0 (2019-07-19)

• add BoxPick client [rc_boxpick_client_node]{.title-ref}
• add [device]{.title-ref} parameter that can take serial number or GEV name (has precedence over old [host]{.title-ref} parameter)

2.6.4 (2019-06-19)

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

• add missing visualization_msgs dependency

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

• first release