Grasp Planner General Parameters

The parameters described here are the general configuration components for both finger and suction end effectors. Most of the parameters here are used for either point cloud processing or ROS2 component definitions.

grasp_planning_node:
  ros__parameters:
    grasp_output_service: "grasp_requests"
    easy_perception_deployment:
      epd_enabled: false
      tracking_enabled: false
      epd_topic: "/processor/epd_localize_output"
    camera_parameters:
      point_cloud_topic: "/camera/pointcloud"
      camera_frame: "camera_color_optical_frame"
    point_cloud_params:
      passthrough_filter_limits_x: [-0.50, 0.50]
      passthrough_filter_limits_y: [-0.15, 0.40]
      passthrough_filter_limits_z: [0.01, 0.70]
      segmentation_max_iterations: 50
      segmentation_distance_threshold: 0.01
      cluster_tolerance: 0.01
      min_cluster_size: 750
      cloud_normal_radius: 0.03
      fcl_voxel_size: 0.02
    end_effectors:
      end_effector_names: [finger_gripper_1, suction_gripper_1]
      finger_gripper_1:
        ....
      suction_gripper_1:
        .....
    visualization_params:
      point_cloud_visualization: true

Parameter Descriptions

grasp_output_service

Description

ROS2 service name for the grasp execution component

Type

string

Details of the GraspRequest Service can be found here: Grasp Planner Output Message Types

It is recommended to use the EMD Grasp Execution component. If you do so, keep set grasp_output_service as "grasp_requests"