Grasp Planner General Parameters (Camera)

Parameters that define the camera parameters. May vary depending on the type of camera used.

grasp_planning_node:
  ros__parameters:
    .....
    camera_parameters:
      point_cloud_topic: "/camera/pointcloud"
      camera_frame: "camera_color_optical_frame"

camera_parameters.point_cloud_topic

point_cloud_topic: "/camera/pointcloud"

Description	Topic published by the camera using the PointCloud2 message type
Type	string

camera_parameters.camera_frame

camera_frame: "camera_color_optical_frame"

Description	Tf reference frame which the point cloud is referenced from.
Type	string

Note

The camera_frame value may be different depending on the definition of the URDF. In order to determine what the frame is:

1. Run the ROS2 package for your camera

2. Use ros2 topic echo command to look at the message published by the camera. Typically if the message type has a sub-message of Header type, refer to the frame_id portion.