Users Manual

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],
"return
_
code": {
"message": "string",
"value": "int16"
},
"timestamp": {
"nsec": "int32",
"sec": "int32"
}
}
Required arguments:
pose
_
frame: defines the output pose frame for the computed grasps.
suction
_
surface
_
length: length of the suction device grasping surface.
suction
_
surface
_
width: width of the suction device grasping surface.
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
or selects a volume which contains items to be grasped if no load
_
carrier
_
id is set. The
processing time for load carrier detection and grasp computation increases with the size of the
selected region of interest.
load
_
carrier
_
id: limits grasp computation to the content of the detected load carrier.
load
_
carrier
_
compartment: selects a compartment within the detected load carrier.
item
_
models: defines a list of unknown items with minimum and maximum dimensions, with
the minimum dimensions strictly smaller than the maximum dimensions. Only one item
_
model
of type UNKNOWN is currently supported.
compute
_
grasps (for BoxPick) Triggers the detection of rectangles and computation of a grasp pose for the
detected rectangles. The poses are given relative to the centers of the rectangles. 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, a list of computed grasps and (optionally) the detected
load carriers. Each grasp includes the uuid of the corresponding rectangle and vice versa.
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",
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7.4. ItemPick and BoxPick 101