Users Manual

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"pose
_
frame": "string",
"rim
_
thickness": {
"x": "float64",
"y": "float64"
}
}
],
"return
_
code": {
"message": "string",
"value": "int16"
},
"timestamp": {
"nsec": "int32",
"sec": "int32"
}
}
Required arguments:
pose
_
frame: defines the output pose frame for the detected load carriers.
load
_
carrier
_
ids
robot
_
pose: only if working in pose
_
frame="external" and the rc_visard is robot-mounted.
Optional arguments:
region
_
of
_
interest
_
id: delimits the volume of space where to search for the load carrier.
The processing time for load carrier detection increases with the size of the selected region of
interest.
detect
_
items (only available for BoxPick) Triggers the detection of rectangles. Processing includes load car-
rier detection in the region of interest. The poses are given relative to the centers of the rectangles. The
z-axis points towards the camera. Multiple rectangles can be specified with different dimension ranges. All
images used by the node are guaranteed to be newer than the service trigger time.
If successful, the service returns a list of rectangles and (optionally) the detected load carriers.
This service requires the following arguments:
{
"item
_
models": [
{
"rectangle": {
"max
_
dimensions": {
"x": "float64",
"y": "float64"
},
"min
_
dimensions": {
"x": "float64",
"y": "float64"
}
},
"type": "string"
}
],
"load
_
carrier
_
compartment": {
"box": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"pose": {
"orientation": {
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7.4. ItemPick and BoxPick 96