Grasp Planner General Parameters (Visualization)

The parameters described here are the configuration components related to grasp visualization

grasp_planning_node:
  ros__parameters:
    .....
    visualization_params:
      point_cloud_visualization: true

visualization_params.point_cloud_visualization

point_cloud_visualization: true

Description	Provides 3D visualization of the grasp samples using PCL Viusalizer
Type	Bool

Warning

If you set this parameter to true, the PCL Visualizer will be spun, and your grasp plans will be displayed. this is a blocking process, so your grasp plans will not be published until you exit the Visualizer. Thus it is recommended to leave this as false

To move to the next grasp sample, press q on your keyboard with the Visualizer window selected to move to the next grasp sample.