Users Manual

This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
set
_
region
_
of
_
interest Persistently stores a region of interest on the rc_visard. All configured regions of
interest are persistent over firmware updates and rollbacks.
See Region of Interest the definition of the region of interest type.
This service requires the following arguments:
{
"region
_
of
_
interest": {
"box": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"id": "string",
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"pose
_
frame": "string",
"sphere": {
"radius": "float64"
},
"type": "string"
},
"robot
_
pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
}
}
This service returns the following response:
{
"return
_
code": {
"message": "string",
"value": "int16"
}
}
7.4. ItemPick and BoxPick 91