Grasp Planner General Parameters (EPD)

The parameters described here are the configuration components related to the easy_perception_deployment ROS2 Package

grasp_planning_node:
  ros__parameters:
    .....
    easy_perception_deployment:
      epd_enabled: false
      tracking_enabled: false
      epd_topic: "/processor/epd_localize_output"

easy_perception_deployment.epd_enabled

Description	Enables the use of the EPD workflow
Type	bool

if true, EPD Workflow is triggered

if false, Direct Camera Workflow is triggered

Details of the different workflows can be found here: Grasp Planner Input Message Types

easy_perception_deployment.tracking_enabled

Note

This parameter will only be used if epd_enabled is set to true

Description	Enables the use of EPD Precision Level 3 Object Tracking
Type	bool

if true, EPD Precision Level 3, Object Tracking will be taken as input.

if false, EPD Precision Level 2, Object Localization will be taken as input.

To understand more about the different precision levels, visit the easy_perception_deployment documentation

To find out more about the Precision Level ROS2 message differences: Grasp Planner Input Message Types

easy_perception_deployment.epd_topic

Note

This parameter will only be used if epd_enabled is set to true

Description	Topic name of output from the easy_perception_deployment package
Type	string

If your tracking_enabled was set to true , The default value of epd_topic should be "/processor/epd_tracking_output"

If your tracking_enabled was set to false , The default value of epd_topic should be "/processor/epd_localize_output"