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"