Users Manual

{
"return
_
code": {
"message": "string",
"value": "int16"
}
}
detect
_
load
_
carriers Triggers a load carrier detection. All images used by the node are guaranteed to be
newer than the service trigger time.
This service requires the following arguments:
{
"load
_
carrier
_
ids": [
"string"
],
"pose
_
frame": "string",
"region
_
of
_
interest
_
id": "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:
{
"load
_
carriers": [
{
"id": "string",
"inner
_
dimensions": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"outer
_
dimensions": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
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7.4. ItemPick and BoxPick 95