Users Manual

Table 7.4.5: Possible states of the ItemPick and BoxPick components
State name Description
IDLE The component is idle.
RUNNING The component is running and ready for load carrier detection and grasp computation.
FATAL A fatal error has occurred.
7.4.5 Services
The user can explore and call the rc
_
itempick and rc
_
boxpick component’s services, e.g. for development and
testing, using Swagger UI (Section 8.2.4) or the rc_visard Web GUI (Section 4.5).
Each service component provides a return
_
code, which consists of a value plus an optional message.
A successful service returns with a return
_
code value of 0. Negative return
_
code values indicate that the
service failed. Positive return
_
code values indicate that the service succeeded with additional information. The
smaller value is selected in case a service has multiple return
_
code values, but all messages are appended in the
return
_
code message.
The following table contains a list of common codes:
Table 7.4.6: Return codes of the ItemPick and BoxPick services
Code Description
0 Success
-1 An invalid argument was provided
-4 Data acquisition took longer than the maximum allowed time of 3.0 seconds
-301 More than one item model of type UNKNOWN provided to the compute
_
grasps service
-302 More than one load carrier provided to the detect
_
load
_
carriers service, but only one is
supported
100 The requested load carriers were not detected in the scene
101 No valid surfaces or grasps were found in the scene
102 The detected load carrier is empty
200 The component is in IDLE state
300 A valid robot
_
pose was provided as argument but it is not required
400 No item
_
models were provided to the compute
_
grasps service request
500 The region of interest visualization images could not be generated during the call to
set
_
region
_
of
_
interest
600 An existent persistent model was overwritten by the call to set
_
load
_
carrier or
set
_
region
_
of
_
interest
The ItemPick and BoxPick components offer the following services.
start Starts the component. If the command is accepted, the component moves to state RUNNING. The
current
_
state value in the service response may differ from RUNNING if the state transition is still in
process when the service returns.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
stop Stops the component. If the command is accepted, the component moves to state IDLE. The current
_
state
value in the service response may differ from IDLE if the state transition is still in process when the service
returns.
This service requires no arguments.
7.4. ItemPick and BoxPick 90